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公开(公告)号：US20240428696A1
公开(公告)日：2024-12-26
申请号：US18341660
申请日：2023-06-26
Applicant: WING AVIATION LLC
Inventor： Ali Shoeb , Damien Jourdan , Jeremie Gabor
IPC: G08G5/00 , B64U10/20 , G06V10/764 , G06V20/17
Abstract: In some embodiments, a method for autonomous navigation of an unmanned aerial vehicle (UAV) is provided. The UAV determines a tracked position using at least one positioning sensor of the UAV. The UAV captures an image using a camera of the UAV. The UAV determines a visual position confidence area using the captured image. The UAV checks the tracked position using the visual position confidence area to determine whether the tracked position is accurate. In response to determining that the tracked position is not accurate, the UAV causes a corrective action based on the visual position confidence area to be taken.
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公开(公告)号：US12050475B2
公开(公告)日：2024-07-30
申请号：US17657544
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
IPC: G05D1/00 , B64C39/02 , B64D1/08 , B64D47/08 , B64U101/30 , B64U101/60 , G06Q10/0832 , G08G5/00
CPC classification number: G05D1/0808 , B64C39/022 , B64C39/024 , B64D1/08 , B64D47/08 , G05D1/101 , G06Q10/0832 , G08G5/0069 , B64U2101/30 , B64U2101/60 , B64U2201/10
Abstract: A method includes navigating, by an unmanned aerial vehicle (UAV), to a first altitude above a first delivery point at a delivery location. The method further includes determining, by the UAV, a second delivery point at the delivery location. The method includes navigating, by the UAV, through a descending trajectory to move the UAV from the first altitude above the first delivery point to a second altitude above the second delivery point at the delivery location. The second altitude is lower than the first altitude. The method additionally includes delivering, by the UAV, a payload to the second delivery point at the delivery location. The method includes after delivering the payload, navigating, by the UAV, through an ascending trajectory to move the UAV from a third altitude above the second delivery point to a fourth altitude above the first delivery point. The fourth altitude is higher than the third altitude.
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公开(公告)号：US20240169573A1
公开(公告)日：2024-05-23
申请号：US17990193
申请日：2022-11-18
Applicant: WING Aviation LLC
Inventor： Ali Shoeb , Domitille Commun
CPC classification number: G06T7/593 , B64C39/024 , B64U20/87 , G06T7/11 , G06T7/136 , G06T7/155 , G06T7/248 , B64U2101/31 , G06T2207/10021 , G06T2207/10032 , G06T2207/30181
Abstract: Techniques for identifying a close encounter between an aircraft and an obstacle are disclosed. The technique includes acquiring a video stream of a ground area below the aircraft with a stereovision camera system disposed onboard the aircraft. A depth perception map is generated with a stereovision processing pipeline indicating stereovision depth estimates of first image pixels from the video stream. An optical flow map is generated with an optical flow processing pipeline indicating optical flow depth estimates of second image pixels from the video stream. The depth perception and optical flow maps are compared. An encounter flag indicating that the close encounter between the aircraft and the obstacle occurred is asserted based at least on the comparing.
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公开(公告)号：US20240124137A1
公开(公告)日：2024-04-18
申请号：US17965622
申请日：2022-10-13
Applicant: WING Aviation LLC
Inventor： Ali Shoeb
CPC classification number: B64C39/024 , B64D47/08 , G06T7/70 , G06V10/242 , G06V10/25 , G06V10/50 , G06V10/60 , G06V10/764 , B64C2201/141 , G06T2207/10032 , G06T2207/30252
Abstract: A technique for avoiding obstacles by an unmanned aerial vehicle (UAV) includes: acquiring an aerial image of a ground area below the UAV; analyzing the aerial image to identify a shadow in the aerial image cast by an object rising from the ground area; determining a pixel length of the shadow in the aerial image; calculating an estimated height of the object based at least on the pixel length of the shadow and an angle of the sun when the aerial image is acquired; and generating a clearance zone around the object having at least one dimension determined based on the estimated height, wherein the clearance zone represents a region in space to avoid when navigating the UAV.
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公开(公告)号：US20230316739A1
公开(公告)日：2023-10-05
申请号：US17657558
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
CPC classification number: G06V20/17 , G06V10/774 , G06T7/11 , G06T7/70 , G06Q10/0832 , G05D1/0094 , G05D1/0607 , B64C39/024 , G06T2207/10028 , G06T2207/10032 , G06T2207/20081 , G06T2207/20084 , G06T2207/30261 , B64C2201/127 , B64C2201/128 , B64C2201/141
Abstract: A method includes capturing, by a sensor on an unmanned aerial vehicle (UAV), an image of a delivery location. The method also includes determining, based on the image of the delivery location, a segmentation image. The segmentation image segments the delivery location into a plurality of pixel areas with corresponding semantic classifications. The method additionally includes determining, based on the segmentation image, a percentage of obstacle pixels within a surrounding area of a delivery point at the delivery location, wherein each obstacle pixel has a semantic classification indicative of an obstacle in the delivery location. The method further includes based on the percentage of obstacle pixels being above a threshold percentage, aborting a delivery process of the UAV.
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Patent Agency Ranking
公开(公告)号：US20230312091A1
公开(公告)日：2023-10-05
申请号：US17657538
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
CPC classification number: B64C39/024 , G05D1/042 , G05D1/0094 , G06V20/17 , G06V20/58 , G06Q50/28
Abstract: A method includes capturing, by a sensor on an unmanned aerial vehicle (UAV), an image of a delivery location. The method further includes determining, based on the image of the delivery location, a segmentation image. The segmentation image segments the delivery location into a plurality of pixel areas with corresponding semantic classifications. The method also includes determining, based on the segmentation image, a distance-to-obstacle image of a delivery zone at the delivery location. The distance-to-obstacle image comprises a plurality of pixels, each pixel representing a distance in the segmentation image from a nearest pixel area with a semantic classification indicative of an obstacle in the delivery location. Additionally, the method includes selecting, based on the distance-to-obstacle image, a delivery point in the delivery zone. The method also includes positioning the UAV above the delivery point in the delivery zone for delivery of a payload.
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公开(公告)号：US12283099B2
公开(公告)日：2025-04-22
申请号：US17657558
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb , Marcus Hammond , Christopher Cobar , Kyle Krafka , Kyle Julian , Kevin Jenkins
IPC: G06V20/17 , B64C39/02 , G05D1/00 , G06Q10/0832 , G06T7/11 , G06T7/70 , G06V10/774 , B64U101/30 , B64U101/60
Abstract: A method includes capturing, by a sensor on an unmanned aerial vehicle (UAV), an image of a delivery location. The method also includes determining, based on the image of the delivery location, a segmentation image. The segmentation image segments the delivery location into a plurality of pixel areas with corresponding semantic classifications. The method additionally includes determining, based on the segmentation image, a percentage of obstacle pixels within a surrounding area of a delivery point at the delivery location, wherein each obstacle pixel has a semantic classification indicative of an obstacle in the delivery location. The method further includes based on the percentage of obstacle pixels being above a threshold percentage, aborting a delivery process of the UAV.
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公开(公告)号：US12242282B2
公开(公告)日：2025-03-04
申请号：US17946972
申请日：2022-09-16
Applicant: WING AVIATION LLC
Inventor： Christopher Cobar , Jeremie Gabor , Ali Shoeb
IPC: G05D1/00 , B64C39/02 , B64U101/30 , G06V10/75 , G06V20/17
Abstract: In some embodiments, an unmanned aerial vehicle (UAV) is provided. The UAV comprises one or more processors; a camera; one or more propulsion devices; and a computer-readable medium having instructions stored thereon that, in response to execution by the one or more processors, cause the UAV to perform actions comprising: receiving at least one image captured by the camera; generating labels for pixels of the at least one image by providing the at least one image as input to a machine learning model; identifying one or more landing spaces in the at least one image based on the labels; determining a relative position of the UAV with respect to the one or more landing spaces; and transmitting signals to the one or more propulsion devices based on the relative position of the UAV with respect to the one or more landing spaces.
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公开(公告)号：US20240428440A1
公开(公告)日：2024-12-26
申请号：US18211919
申请日：2023-06-20
Applicant: WING AVIATION LLC
Inventor： David Stonestrom , Ali Shoeb , Marcus Hammond
Abstract: A technique for a UAV includes: acquiring an aerial image of an area below a UAV that includes one or more instances of an object; analyzing the aerial image with an image classifier to classify select pixels of the aerial image as being keypoint pixels associated with keypoints of the object; grouping the keypoint pixels into one or more groups each associated with one of the instances of the object, wherein first keypoint pixels of the keypoint pixels are grouped into a first group of the one or more groups associated with a first instance of the one or more instances of the object; generating an estimate of a relative position of the UAV to the first instance of the object based at least upon a machine vision analysis of the first keypoint pixels; and navigating the UAV into alignment with the first instance based upon the estimate.
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公开(公告)号：US12148206B2
公开(公告)日：2024-11-19
申请号：US17710503
申请日：2022-03-31
Applicant: Wing Aviation LLC
Inventor： Ali Shoeb
IPC: G06V20/17 , B64C39/02 , G05D1/00 , G06N5/04 , G06T7/593 , G06V10/75 , G06V20/10 , B64U101/30 , B64U101/60
Abstract: A computer-implemented method comprises receiving, by an image processing system, a depth image captured by a stereo camera on an unmanned aerial vehicle (UAV). One or more pixels of the depth image are associated with corresponding depth values indicative of distances of one or more objects to the stereo camera. The image processing system determines that one or more pixels of the depth image are associated with invalid depth values. The image processing system infers, based on a distribution of the one or more pixels of the depth image that are associated with invalid depth values, a presence of a potential obstacle in an environment of the UAV. The UAV is controlled based on the inferred presence of the potential obstacle.
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