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公开(公告)号：US12296951B2
公开(公告)日：2025-05-13
申请号：US18463928
申请日：2023-09-08
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: G01C21/34 , B64C39/02 , B64U10/14 , G05D1/00 , G06T7/246 , G06T7/277 , G06T7/593 , G06T17/05 , G06V20/13 , G06V20/17 , G08G5/00 , G08G5/04 , B64U101/32
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.
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公开(公告)号：US20240067334A1
公开(公告)日：2024-02-29
申请号：US18463928
申请日：2023-09-08
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: B64C39/02 , G01C21/34 , G05D1/10 , G06T7/246 , G06T7/277 , G06T7/593 , G06T17/05 , G06V20/13 , G06V20/17 , G08G5/00 , G08G5/04
CPC classification number: B64C39/024 , G01C21/3453 , G05D1/106 , G06T7/246 , G06T7/277 , G06T7/593 , G06T17/05 , G06V20/13 , G06V20/17 , G08G5/0069 , G08G5/045 , B64U2201/10 , G06T2207/10021 , G06T2207/10032 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188 , G06T2207/30241 , G06T2207/30252
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.
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公开(公告)号：US20230296793A1
公开(公告)日：2023-09-21
申请号：US17875850
申请日：2022-07-28
Applicant: Skydio, Inc.
Inventor： Anh Tung Dang , Peter Benjamin Henry , Hayk Martirosyan , Kristen Marie Holtz , Dominic William Pattison
CPC classification number: G01S19/47 , G01C21/1654 , G01S19/421
Abstract: A calibration of an unmanned aerial vehicle is performed without the use of a magnetometer. The unmanned aerial vehicle generates a first acceleration vector in a navigation frame of reference and a second acceleration vector in a GPS frame of reference. The unmanned aerial vehicle estimates a heading of the unmanned aerial vehicle based on the first acceleration vector and the second acceleration vector. The unmanned aerial vehicle performs a calibration based on the estimated heading of the unmanned aerial vehicle.
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公开(公告)号：US11592845B2
公开(公告)日：2023-02-28
申请号：US17513179
申请日：2021-10-28
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.
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公开(公告)号：US11592844B2
公开(公告)日：2023-02-28
申请号：US17513138
申请日：2021-10-28
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.
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Patent Agency Ranking
公开(公告)号：US12249139B2
公开(公告)日：2025-03-11
申请号：US18515416
申请日：2023-11-21
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 , B64C39/02 , B64U101/30 , G05D1/00 , G06T3/4038 , G06T5/94 , G06V10/30 , G06V10/60 , G06V10/82 , H04N5/33
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.
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公开(公告)号：US20230244231A1
公开(公告)日：2023-08-03
申请号：US18161028
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
CPC classification number: G05D1/0088 , G06F17/16 , B64U10/00 , G05D1/101 , G05D1/0038 , B64U2201/20
Abstract: A computer accesses a first symbolic expression for an output matrix as a function of an input matrix at a computing device comprising processing circuitry and memory. The computer computes a first Jacobian of the input matrix with respect to an input tangent space. The computer computes a second Jacobian of the output matrix with respect to the input matrix. The computer computes a third Jacobian of an output tangent space with respect to the input matrix. The computer applies symbolic matrix multiplication to the first Jacobian, the second Jacobian, and the third Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression, the second symbolic expression representing a computed tangent-space Jacobian.
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公开(公告)号：US20230242250A1
公开(公告)日：2023-08-03
申请号：US17717848
申请日：2022-04-11
Applicant: Skydio, Inc.
Inventor： Jack Louis Zhu , Margaret Bai Wang , Maximilian Joseph Halper Krogisu , Kristen Marie Holtz , Shreetej Varakantam Reddy , Hayk Martirosyan , Peter Benjamin Henry
CPC classification number: B64C39/024 , G06T3/40 , G05D1/1064 , G01C21/20 , G05D1/0016
Abstract: A computer stores dense maps generated by one or more aerial vehicles. The computer generates a global graph based on the dense maps and a sparse map. The computer stores a representation of one or more paths traversed by the one or more aerial vehicles within the global graph. The computer determines a path from an origin location to a destination location based on the global graph. The determined path enables an aerial vehicle to avoid objects.
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公开(公告)号：US20190248487A1
公开(公告)日：2019-08-15
申请号：US16272111
申请日：2019-02-11
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
CPC classification number: B64C39/024 , B64C2201/06 , B64C2201/123 , B64C2201/127 , B64C2201/141 , B64C2201/148 , B64C2201/18 , G06K9/00201 , G06K9/0063 , G06K9/00718
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.
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公开(公告)号：US12282524B2
公开(公告)日：2025-04-22
申请号：US18161028
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
Abstract: A computer accesses a first symbolic expression for an output matrix as a function of an input matrix at a computing device comprising processing circuitry and memory. The computer computes a first Jacobian of the input matrix with respect to an input tangent space. The computer computes a second Jacobian of the output matrix with respect to the input matrix. The computer computes a third Jacobian of an output tangent space with respect to the input matrix. The computer applies symbolic matrix multiplication to the first Jacobian, the second Jacobian, and the third Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression, the second symbolic expression representing a computed tangent-space Jacobian.
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