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公开(公告)号：US11573544B2
公开(公告)日：2023-02-07
申请号：US17174585
申请日：2021-02-12
Applicant: SKYDIO, INC.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Bachrach , Adam Bry , Ryan David Kennedy , Himel Mondal , Quentin Allen Wah Yen Delepine
IPC: B64C39/02 , B64D47/08 , B64D31/06 , G06T17/00 , G06T19/20 , G06T7/55 , G05D1/00 , H04N5/00 , G05B17/02 , G05D1/10 , H04N5/232 , H04N5/247 , G06T7/73 , G05B13/02
Abstract: In some examples, an unmanned aerial vehicle (UAV) employs one or more image sensors to capture images of a scan target and may use distance information from the images for determining respective locations in three-dimensional (3D) space of a plurality of points of a 3D model representative of a surface of the scan target. The UAV may compare a first image with a second image to determine a difference between a current frame of reference position for the UAV and an estimate of an actual frame of reference position for the UAV. Further, based at least on the difference, the UAV may determine, while the UAV is in flight, an update to the 3D model including at least one of an updated location of at least one point in the 3D model, or a location of a new point in the 3D model.
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公开(公告)号：US20220415185A1
公开(公告)日：2022-12-29
申请号：US17890887
申请日：2022-08-18
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
IPC: G08G5/00 , G06F3/04845 , G06F3/04817 , G06T17/05 , G06T19/00 , G06F3/04847 , B64C39/02 , B64D47/08 , G05D1/10 , G05D1/00 , G08G5/04 , G01S13/89 , G01S17/89 , H04N5/272 , G06T17/10 , G06V20/13 , G06V20/10
Abstract: Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.
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公开(公告)号：US20220406193A1
公开(公告)日：2022-12-22
申请号：US17890889
申请日：2022-08-18
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
IPC: G08G5/00 , G06F3/04845 , G06F3/04817 , G06T17/05 , G06T19/00 , G06F3/04847 , B64C39/02 , B64D47/08 , G05D1/10 , G05D1/00 , G08G5/04 , G01S13/89 , G01S17/89 , H04N5/272 , G06T17/10 , G06V20/13 , G06V20/10
Abstract: Described herein are systems for roof scan using an unmanned aerial vehicle. For example, some methods include capturing, using an unmanned aerial vehicle, an overview image of a roof of a building from above the roof; presenting a suggested bounding polygon overlaid on the overview image to a user; determining a bounding polygon based on the suggested bounding polygon and user edits; based on the bounding polygon, determining a flight path including a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon; fly the unmanned aerial vehicle to a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof
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公开(公告)号：US20220057799A1
公开(公告)日：2022-02-24
申请号：US17388828
申请日：2021-07-29
Applicant: Skydio, Inc.
Inventor： Hayk Martirosyan , Adam Bry , Matthew Donahoe , Abraham Bachrach , Justin Michael Sadowski
Abstract: Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.
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公开(公告)号：US20220019248A1
公开(公告)日：2022-01-20
申请号：US17360495
申请日：2021-06-28
Applicant: Skydio, Inc.
Inventor： Jack Louis Zhu , Hayk Martirosyan , Abraham Bachrach , Matthew Donahoe , Patrick Lowe , Kristen Marie Holtz , Adam Bry
Abstract: A technique is described for controlling an autonomous vehicle such as an unmanned aerial vehicle (UAV) using objective-based inputs. In an embodiment, the underlying functionality of an autonomous navigation system is via an application programming interface (API). In such an embodiment, the UAV can be controlled trough specifying a behavioral objective, for example, using a call to the API to set parameters for the behavioral objective. The autonomous navigation system can then incorporate perception inputs such as sensor data from sensors mounted to the UAV and the set parameters using a multi-objective motion planning process to generate a proposed trajectory that most closely satisfies the behavioral objective in view of certain constraints. In some embodiments, developers can utilize the API to build customized applications for utilizing the UAV to capture images. Such applications, also referred to as “skills,” can be developed, shared, and executed to control the behavior of an autonomous UAV and to aid in overall system improvement.
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Patent Agency Ranking
公开(公告)号：US20210125406A1
公开(公告)日：2021-04-29
申请号：US16896066
申请日：2020-06-08
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
Abstract: Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.
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公开(公告)号：US10435176B2
公开(公告)日：2019-10-08
申请号：US15164679
申请日：2016-05-25
Applicant: Skydio, Inc.
Inventor： Stephen R. McClure , Benjamin S. Thompson , Adam Bry , Abraham Bachrach , Matthew Donahoe
Abstract: Embodiments are described for an unmanned aerial vehicle (UAV) configured for autonomous flight using visual navigation that includes a perimeter structure surrounding one or more powered rotors, the perimeter structure including image capture devices arranged so as to provide an unobstructed view around the UAV.
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公开(公告)号：US20180158197A1
公开(公告)日：2018-06-07
申请号：US15827945
申请日：2017-11-30
Applicant: Skydio, Inc.
Inventor： Saumitro Dasgupta , Hayk Martirosyan , Hema Koppula , Alex Kendall , Austin Stone , Matthew Donahoe , Abraham Bachrach , Adam Bry
IPC: G06T7/292 , G05D1/00 , G05D1/10 , B64C39/02 , G06T7/73 , G06K9/62 , G06K9/72 , G06K9/00 , G06K9/66 , G06T7/10 , G06T3/60 , H04N13/02
CPC classification number: G06T7/292 , B64C39/024 , B64C2201/123 , B64C2201/126 , B64C2201/127 , B64C2201/141 , G05D1/0011 , G05D1/0094 , G05D1/101 , G06K9/0063 , G06K9/628 , G06K9/66 , G06K9/726 , G06N3/0454 , G06T3/60 , G06T7/10 , G06T7/11 , G06T7/20 , G06T7/579 , G06T7/75 , G06T2207/10012 , G06T2207/10028 , G06T2207/10032 , G06T2207/20084 , G06T2207/20088 , G06T2207/30196 , G06T2207/30241 , H04N13/239 , H04N13/243 , H04N13/282 , H04N2013/0081 , H04N2013/0085 , H04N2013/0092
Abstract: Systems and methods are disclosed for tracking objects in a physical environment using visual sensors onboard an autonomous unmanned aerial vehicle (UAV). In certain embodiments, images of the physical environment captured by the onboard visual sensors are processed to extract semantic information about detected objects. Processing of the captured images may involve applying machine learning techniques such as a deep convolutional neural network to extract semantic cues regarding objects detected in the images. The object tracking can be utilized, for example, to facilitate autonomous navigation by the UAV or to generate and display augmentative information regarding tracked objects to users.
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公开(公告)号：US20180046187A1
公开(公告)日：2018-02-15
申请号：US15235513
申请日：2016-08-12
Applicant: Skydio, Inc.
Inventor： Hayk Martirosyan , Adam Bry , Matthew Donahoe , Abraham Bachrach , Justin Michael Sadowski
CPC classification number: G05D1/0094 , B64C39/024 , B64C2201/027 , B64C2201/127 , B64C2201/141 , B64D47/08 , G06T7/292 , G06T2207/10021 , G06T2207/10032 , G06T2207/30252
Abstract: Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.
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40.发明申请VIRTUAL CAMERA INTERFACE AND OTHER USER INTERACTION PARADIGMS FOR A FLYING DIGITAL ASSISTANT 有权虚拟相机界面和其他用户交互式飞行数字助理公开(公告)号：US20160327950A1
公开(公告)日：2016-11-10
申请号：US14689008
申请日：2015-04-16
Applicant: Skydio, Inc.
Inventor： Abraham Bachrach , Adam Bry , Matthew Donahoe
CPC classification number: G05D1/0038 , B64C39/00 , G05D1/0016 , G05D1/0044 , G05D1/0094 , G06F3/00 , H04N5/00
Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.
Abstract translation: 描述了使用诸如智能电话的便携式多功能装置（PMD）与无人驾驶飞行器（称为飞行数字助理或FDA）进行用户交互的新范例的方法和系统。 在一些实施例中，用户可以通过调整PMD的位置和取向来控制来自FDA的图像捕获。 在其他实施例中，用户可以通过与飞行路径对应的PMD的触摸显示器输入触摸手势以由FDA自主驾驶。
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