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.

公开(公告)号：US20220337798A1

公开(公告)日：2022-10-20

申请号：US17733085

申请日：2022-04-29

Applicant: Skydio, Inc.

Inventor： Ryan Kennedy ,  Peter Henry ,  Abraham Bachrach

IPC: H04N13/00 ,  H04N5/247 ,  H04N5/232 ,  G06T7/11 ,  H04N17/00 ,  G06T5/00 ,  B64C39/02 ,  B64D47/08 ,  H04N13/239 ,  G05D1/10 ,  G06T7/00 ,  H04N5/217 ,  H04N5/225 ,  H04N5/235 ,  G06V20/13

Abstract: Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).

公开(公告)号：US11323680B2

公开(公告)日：2022-05-03

申请号：US16452978

申请日：2019-06-26

Applicant: Skydio, Inc.

Inventor： Ryan Kennedy ,  Peter Henry ,  Abraham Bachrach

IPC: B64C39/02 ,  B64D47/08 ,  G05D1/10 ,  G06K9/00 ,  G06T5/00 ,  G06T7/00 ,  G06T7/11 ,  H04N13/00 ,  H04N13/239 ,  H04N5/225 ,  H04N5/235 ,  H04N5/247 ,  H04N5/232 ,  H04N17/00 ,  H04N5/217

Abstract: Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).

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

IPC: G05D1/00 ,  B64C39/02 ,  B64D47/08 ,  G06T7/292 ,  G05D1/10

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.

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

IPC: G05D1/12 ,  G05D1/10 ,  G05D1/00 ,  B64C39/02 ,  G06T7/20 ,  H04N5/272 ,  H04N5/232

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.

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

IPC: B64D47/08 ,  B64C27/20 ,  G01C21/20 ,  B64C39/02 ,  G01C21/16 ,  G05D1/10

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.

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.

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

IPC: G05D1/00 ,  G05D1/10 ,  B64D47/08 ,  G06T7/20 ,  B64C39/02

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.

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

IPC: G05D1/02 ,  G05D1/00

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。