公开(公告)号：US12189389B2

公开(公告)日：2025-01-07

申请号：US18520072

申请日：2023-11-27

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: G05D1/69 ,  B64C39/02 ,  B64D31/06 ,  B64D47/08 ,  G05B13/02 ,  G05B17/02 ,  G05D1/00 ,  G05D1/227 ,  G05D1/689 ,  G06T7/55 ,  G06T7/73 ,  G06T17/00 ,  G06T19/20 ,  G06V20/13 ,  G06V20/64 ,  H04N23/60 ,  H04N23/695 ,  H04N23/90 ,  B64U10/13 ,  B64U101/30

Abstract: In some examples, one or more processors of an unmanned aerial vehicle (UAV), control a propulsion mechanism of the UAV to cause the UAV to navigate to a plurality of positions in relation to a scan target. Using one or more image sensors of the UAV, a first image of the scan target is captured from a first position of the plurality of positions, and a second image of the scan target is captured from a second position of the plurality of positions. A disparity is determined between the first image captured at the first position and the second image captured at the second position. A three-dimensional model corresponding to the scan target is determined based in part on the disparity determined between the first image and the second image.

公开(公告)号：US11940795B2

公开(公告)日：2024-03-26

申请号：US18099571

申请日：2023-01-20

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: G01C1/00 ,  B64C39/02 ,  B64D31/06 ,  B64D47/08 ,  G05B13/02 ,  G05B17/02 ,  G05D1/00 ,  G06T7/55 ,  G06T7/73 ,  G06T17/00 ,  G06T19/20 ,  G06V20/13 ,  G06V20/64 ,  H04N23/60 ,  H04N23/695 ,  H04N23/90 ,  B64U10/13 ,  B64U101/30

CPC classification number: G05D1/0094 ,  B64C39/024 ,  B64D31/06 ,  B64D47/08 ,  G05B13/0265 ,  G05B17/02 ,  G05D1/0088 ,  G05D1/101 ,  G06T7/55 ,  G06T7/74 ,  G06T17/00 ,  G06T19/20 ,  G06V20/13 ,  G06V20/64 ,  H04N23/64 ,  H04N23/695 ,  H04N23/90 ,  B64U10/13 ,  B64U2101/30 ,  G06T2207/10032 ,  G06T2207/20221 ,  G06T2219/2004

Abstract: In some examples, an unmanned aerial vehicle (UAV) may include one or more processors configured to capture, with one or more image sensors, and while the UAV is in flight, a plurality of images of a target. The one or more processors may compare a first image of the plurality of images with a second image of the plurality of images 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. In addition, the one or more processors may determine, based at least on the difference, and while the UAV is in flight, an update to a three-dimensional model of the target.

公开(公告)号：US11861896B1

公开(公告)日：2024-01-02

申请号：US17707841

申请日：2022-03-29

Applicant: Skydio, Inc.

Inventor： Samuel Shenghung Wang ,  Vladimir Nekrasov ,  Ryan David Kennedy ,  Gareth Benoit Cross ,  Peter Benjamin Henry ,  Kristen Marie Holtz ,  Hayk Martirosyan ,  Abraham Galton Bachrach ,  Adam Parker Bry

IPC: G06V20/17 ,  G06V10/82 ,  G06V10/30 ,  H04N5/33 ,  G06T5/00 ,  G06T3/40 ,  G05D1/10 ,  B64C39/02 ,  G06V10/60 ,  B64U101/30

CPC classification number: G06V20/17 ,  B64C39/024 ,  G05D1/101 ,  G06T3/4038 ,  G06T5/008 ,  G06V10/30 ,  G06V10/60 ,  G06V10/82 ,  H04N5/33 ,  B64U2101/30 ,  B64U2201/10 ,  G06T2207/10024 ,  G06T2207/10032 ,  G06T2207/20024 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/20182 ,  G06T2207/30252

Abstract: Autonomous aerial navigation in low-light and no-light conditions includes using night mode obstacle avoidance intelligence, training, and mechanisms for vision-based unmanned aerial vehicle (UAV) navigation to enable autonomous flight operations of a UAV in low-light and no-light environments using infrared data.

公开(公告)号：US20230324911A1

公开(公告)日：2023-10-12

申请号：US18099571

申请日：2023-01-20

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: G05D1/00 ,  G05B17/02 ,  B64C39/02 ,  B64D47/08 ,  B64D31/06 ,  G05D1/10 ,  G06T17/00 ,  G06T7/55 ,  G06T7/73 ,  G05B13/02 ,  G06T19/20 ,  H04N23/60 ,  H04N23/90 ,  H04N23/695 ,  G06V20/13 ,  G06V20/64

CPC classification number: G05D1/0094 ,  G05B17/02 ,  B64C39/024 ,  B64D47/08 ,  B64D31/06 ,  G05D1/101 ,  G06T17/00 ,  G06T7/55 ,  G06T7/74 ,  G05B13/0265 ,  G05D1/0088 ,  G06T19/20 ,  H04N23/64 ,  H04N23/90 ,  H04N23/695 ,  G06V20/13 ,  G06V20/64 ,  G06T2207/20221 ,  G06T2207/10032 ,  G06T2219/2004 ,  B64U10/13

Abstract: In some examples, an unmanned aerial vehicle (UAV) may include one or more processors configured to capture, with one or more image sensors, and while the UAV is in flight, a plurality of images of a target. The one or more processors may compare a first image of the plurality of images with a second image of the plurality of images 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. In addition, the one or more processors may determine, based at least on the difference, and while the UAV is in flight, an update to a three-dimensional model of the target.

公开(公告)号：US20230244247A1

公开(公告)日：2023-08-03

申请号：US18161023

申请日：2023-01-27

Applicant: Skydio, Inc.

Inventor： Hayk Martirosyan ,  Aaron Christopher Miller ,  Nathan Leo Bucki ,  Bradley Matthew Solliday ,  Ryan David Kennedy ,  Jack Louis Zhu ,  Teodor Tomic ,  Yixiao Sun ,  Josiah Timothy VanderMey ,  Gareth Benoit Cross ,  Peter Benjamin Henry ,  Dominic William Pattison ,  Samuel Shenghung Wang ,  Kristen Marie Holtz ,  Harrison Zheng

IPC: G05D1/10 ,  G05D1/00 ,  B64C39/02 ,  G06V10/75

CPC classification number: G05D1/101 ,  G05D1/0088 ,  B64C39/024 ,  G06V10/751 ,  B64U2101/30

Abstract: A computer of an unmanned aerial vehicle (UAV) accesses, from a memory unit, a problem definition comprising cost functions associated with travel of the UAV. The computer causes movement of the UAV based on the cost functions. The computer adjusts one or more of the cost functions during a flight of the UAV. The computer causes further movement of the UAV based on the adjusted one or more of the cost functions.

公开(公告)号：US20220234733A1

公开(公告)日：2022-07-28

申请号：US17665811

申请日：2022-02-07

Applicant: Skydio, Inc.

Inventor： Kristen Marie Holtz ,  Hayk Martirosyan ,  Jack Louis Zhu ,  Adam Parker Bry ,  Matthew Joseph Donahoe ,  Abraham Galton Bachrach ,  Peter Benjamin Henry ,  Ryan David Kennedy

IPC: B64C39/02 ,  G06V20/13 ,  G06V20/40 ,  G06V20/64

Abstract: A technique is introduced for autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing a sensor data such as images captured by onboard cameras to generate a ground map comprising multiple cells. A suitable footprint, comprising a subset of the multiple cells in the ground map that satisfy one or more landing criteria, is selected and control commands are generated to cause the aerial vehicle to autonomously land on an area corresponding to the footprint. In some embodiments, the introduced technique involves a geometric smart landing process to select a relatively flat area on the ground for landing. In some embodiments, the introduced technique involves a semantic smart landing process where semantic information regarding detected objects is incorporated into the ground map.

公开(公告)号：US11347244B2

公开(公告)日：2022-05-31

申请号：US16789176

申请日：2020-02-12

Applicant: Skydio, Inc.

Inventor： Ryan David Kennedy ,  Peter Benjamin Henry ,  Hayk Martirosyan ,  Jack Louis Zhu ,  Abraham Galton Bachrach ,  Adam Parker Bry

IPC: G01C21/34 ,  G05D1/10 ,  G08G5/00 ,  B64C39/02 ,  G06T7/593 ,  G06T17/05 ,  G06T7/246 ,  G08G5/04 ,  G06T7/277 ,  G06V20/13

Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.

公开(公告)号：US20200183428A1

公开(公告)日：2020-06-11

申请号：US16789176

申请日：2020-02-12

Applicant: Skydio, Inc.

Inventor： Ryan David Kennedy ,  Peter Benjamin Henry ,  Hayk Martirosyan ,  Jack Louis Zhu ,  Abraham Galton Bachrach ,  Adam Parker Bry

IPC: G05D1/10 ,  G06T7/277 ,  G08G5/04 ,  G06T7/246 ,  G06K9/00 ,  G06T17/05 ,  G06T7/593 ,  B64C39/02 ,  G08G5/00

Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.

公开(公告)号：US10599161B2

公开(公告)日：2020-03-24

申请号：US15671743

申请日：2017-08-08

Applicant: Skydio, Inc.

Inventor： Ryan David Kennedy ,  Peter Benjamin Henry ,  Hayk Martirosyan ,  Jack Louis Zhu ,  Abraham Galton Bachrach ,  Adam Parker Bry

IPC: G05D1/10 ,  G08G5/00 ,  B64C39/02 ,  G06T7/593 ,  G06T17/05 ,  G06K9/00 ,  G06T7/246 ,  G08G5/04 ,  G06T7/277

Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.