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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11940795 B1

PDFFull Text
Date of Patent:
Mar. 26, 2024

Filed:

Jan. 20, 2023

Performing 3d reconstruction via an unmanned aerial vehicle

Applicant:

Skydio, Inc., Redwood City, CA (US);

Inventors:

Peter Henry, San Francisco, CA (US);

Jack Zhu, San Francisco, CA (US);

Brian Richman, San Francisco, CA (US);

Harrison Zheng, Palo Alto, CA (US);

Hayk Martirosyan, San Francisco, CA (US);

Matthew Donahoe, Redwood City, CA (US);

Abraham Bachrach, Redwood City, CA (US);

Adam Bry, Redwood City, CA (US);

Ryan David Kennedy, Redwood City, CA (US);

Himel Mondal, Windsor, CA;

Quentin Allen Wah Yen Delepine, Cupertino, CA (US);

Assignee:

SKYDIO, INC., Redwood City, CA (US);

Attorney:

MATTINGLY & MALUR, PC

Primary Examiner:

Yonel Beaulieu

Int. Cl.
CPC ...
G01C 1/00 (2006.01); B64C 39/02 (2023.01); B64D 31/06 (2006.01); B64D 47/08 (2006.01); G05B 13/02 (2006.01); G05B 17/02 (2006.01); G05D 1/00 (2006.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01); G06T 17/00 (2006.01); G06T 19/20 (2011.01); G06V 20/13 (2022.01); G06V 20/64 (2022.01); H04N 23/60 (2023.01); H04N 23/695 (2023.01); H04N 23/90 (2023.01); B64U 10/13 (2023.01); B64U 101/30 (2023.01);
U.S. Cl.
CPC ...
G05D 1/0094 (2013.01); B64C 39/024 (2013.01); B64D 31/06 (2013.01); B64D 47/08 (2013.01); G05B 13/0265 (2013.01); G05B 17/02 (2013.01); G05D 1/0088 (2013.01); G05D 1/101 (2013.01); G06T 7/55 (2017.01); G06T 7/74 (2017.01); G06T 17/00 (2013.01); G06T 19/20 (2013.01); G06V 20/13 (2022.01); G06V 20/64 (2022.01); H04N 23/64 (2023.01); H04N 23/695 (2023.01); H04N 23/90 (2023.01); B64U 10/13 (2023.01); B64U 2101/30 (2023.01); G06T 2207/10032 (2013.01); G06T 2207/20221 (2013.01); G06T 2219/2004 (2013.01);
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.

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