公开(公告)号：US12169406B2

公开(公告)日：2024-12-17

申请号：US18520089

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 aerial vehicle access a scan plan including a sequence of poses for the aerial vehicle to assume to capture, using the one or more image sensors, images of a scan target. A next pose of the scan plan is checked for obstructions, and based at least on detection of an obstruction, the one or more processors determine whether a backup pose is available for capturing an image of the targeted point orthogonally along a normal of the targeted point. Responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, image capture of the targeted point is performed at an oblique angle to the normal of the targeted point.

公开(公告)号：US20230244233A1

公开(公告)日：2023-08-03

申请号：US18120643

申请日：2023-03-13

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 ,  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 ,  H04N23/90 ,  H04N23/695 ,  B64U10/13 ,  G06T2207/10032 ,  G06T2207/20221 ,  G06T2219/2004

Abstract: In some examples, an unmanned aerial vehicle (UAV) may identify a scan target. The UAV may navigate to two or more positions in relation to the scan target. The UAV may capture, using one or more image sensors of the UAV, two or more images of the scan target from different respective positions in relation to the scan target. For instance, the two or more respective positions may be selected by controlling a spacing between the two or more respective positions to enable determination of parallax disparity between a first image captured at a first position and a second image captured at a second position of the two or more positions. The UAV may determine a three-dimensional model corresponding to the scan target based in part on the determined parallax disparity of the two or more images including the first image and the second image.

公开(公告)号：US20240278912A1

公开(公告)日：2024-08-22

申请号：US18435299

申请日：2024-02-07

Applicant: Skydio, Inc.

Inventor： Peter Henry ,  Jack Zhu ,  Brian Richman ,  Harrison Zheng ,  Hayk Martirosyan ,  Matthew Donahoe ,  Abraham Galton Bachrach ,  Adam Bry

IPC: B64C39/02 ,  B64D47/08 ,  B64U10/13 ,  B64U101/30 ,  G01S13/89 ,  G01S17/89 ,  G05D1/223 ,  G05D1/224 ,  G05D1/606 ,  G06F3/04817 ,  G06F3/04845 ,  G06F3/04847 ,  G06T17/05 ,  G06T17/10 ,  G06T19/00 ,  G06V20/10 ,  G06V20/13 ,  G06V20/17 ,  G06V20/64 ,  G08G5/00 ,  G08G5/04 ,  H04N5/272 ,  H04N13/204

CPC classification number: B64C39/024 ,  B64D47/08 ,  G01S13/89 ,  G01S17/89 ,  G05D1/223 ,  G05D1/224 ,  G05D1/606 ,  G06F3/04817 ,  G06F3/04845 ,  G06F3/04847 ,  G06T17/05 ,  G06T17/10 ,  G06T19/006 ,  G06V20/13 ,  G06V20/17 ,  G06V20/176 ,  G06V20/647 ,  G08G5/003 ,  G08G5/04 ,  H04N5/272 ,  B64U10/13 ,  B64U2101/30 ,  B64U2201/00 ,  B64U2201/20 ,  H04N13/204

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.

公开(公告)号：US12025983B2

公开(公告)日：2024-07-02

申请号：US18222786

申请日：2023-07-17

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: G06T17/00 ,  B64C39/02 ,  B64D31/06 ,  B64D47/08 ,  G05B13/02 ,  G05B17/02 ,  G05D1/00 ,  G06T7/55 ,  G06T7/73 ,  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 image of a scan target is presented in a user interface on a display associated with a computing device. The user interface receives at least one user input indicating at least one point in a perimeter or edge of a volume for encompassing the scan target presented in the image of the scan target. A graphical representation of the volume in relation to the image of the scan target is generated in the user interface. Information for defining a location of at least a portion of the volume in three-dimensional space is sent to an unmanned aerial vehicle (UAV) to cause, at least in part, the UAV to scan at least a portion of the scan target corresponding to the volume.

公开(公告)号：US11455894B2

公开(公告)日：2022-09-27

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

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 ,  H04N13/204

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.

公开(公告)号：US11829141B2

公开(公告)日：2023-11-28

申请号：US18120643

申请日：2023-03-13

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: G06V20/13 ,  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 ,  G06V20/64 ,  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 identify a scan target. The UAV may navigate to two or more positions in relation to the scan target. The UAV may capture, using one or more image sensors of the UAV, two or more images of the scan target from different respective positions in relation to the scan target. For instance, the two or more respective positions may be selected by controlling a spacing between the two or more respective positions to enable determination of parallax disparity between a first image captured at a first position and a second image captured at a second position of the two or more positions. The UAV may determine a three-dimensional model corresponding to the scan target based in part on the determined parallax disparity of the two or more images including the first image and the second image.

公开(公告)号：US20230280765A1

公开(公告)日：2023-09-07

申请号：US18161026

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: G05D1/08 ,  G06F17/18

CPC classification number: G05D1/0825 ,  G06F17/18 ,  B64U10/00

Abstract: A computer accesses an input element storage and an output element storage. The computer accesses a symbolic expression for output element storage as a function of the input element storage. The computer computes, using a symbolic computation engine of the computer, a symbolic expression for the tangent space Jacobian of the output element storage with respect to an input tangent space. The computer outputs the computed expression.

公开(公告)号：US20230244750A1

公开(公告)日：2023-08-03

申请号：US18161024

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: G06F17/16 ,  G05D1/00 ,  G06F9/52

CPC classification number: G06F17/16 ,  G05D1/0022 ,  G06F9/526

Abstract: A computer accesses a first symbolic expression for an output value as a function of an input value. The computer computes a first symbolic Jacobian of the input value with respect to an input tangent space from a symbolic Lie group definition. The computer computes a second symbolic Jacobian of the output value with respect to the input value. The computer computes a third symbolic Jacobian of an output tangent space with respect to the input value from the symbolic Lie group definition. The computer applies symbolic matrix multiplication to the first symbolic Jacobian, the second symbolic Jacobian, and the third symbolic 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.

公开(公告)号：US20230244234A1

公开(公告)日：2023-08-03

申请号：US18120669

申请日：2023-03-13

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 access a scan plan that includes a sequence of poses for the UAV to assume to capture images of a scan target using one or more image sensors. The UAV may check a next pose of the scan plan for obstructions. Responsive to detection of an obstruction, the UAV may determine a backup pose based at least on a field of view of the next pose. The UAV may control a propulsion mechanism to cause the UAV to fly to assume the backup pose. The UAV may capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.

公开(公告)号：US20230021969A1

公开(公告)日：2023-01-26

申请号：US17890884

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.