公开(公告)号：US20240338026A1

公开(公告)日：2024-10-10

申请号：US18132288

申请日：2023-04-07

Applicant: WING Aviation LLC

Inventor： Ali Shoeb ,  Marcus Hammond

IPC: G05D1/10 ,  B64C39/02 ,  G05D1/06 ,  G06T7/20 ,  G06T7/70

CPC classification number: G05D1/106 ,  B64C39/024 ,  G06T7/20 ,  G06T7/70 ,  B64U2101/30 ,  B64U2101/64 ,  B64U2201/10 ,  G06T2207/10032 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A technique for detection of an obstacle by a UAV includes arriving above a location at a first altitude by the UAV; navigating a descent flight pattern from the first altitude towards the location; acquiring aerial images of the location below the UAV with a camera system disposed onboard the UAV; and analyzing the aerial images with a machine vision system disposed onboard the UAV that is adapted to detect a presence of the obstacle in the aerial images. The descent flight pattern is selected to increase perception by the machine vision system of the obstacle.

公开(公告)号：US20240212205A1

公开(公告)日：2024-06-27

申请号：US18163183

申请日：2023-02-01

Applicant: WING AVIATION LLC

Inventor： Jeremie Gabor ,  Damien Jourdan ,  Ali Shoeb

IPC: G06T7/73 ,  B64U20/87 ,  G06V20/17 ,  G06V20/70

CPC classification number: G06T7/74 ,  B64U20/87 ,  G06V20/17 ,  G06V20/70 ,  B64U2101/30 ,  G06T2207/10032

Abstract: In some embodiments, a method of determining an estimated location of a UAV is provided. A captured image is received from a camera of the UAV. Semantic labels are generated by the UAV for a plurality of objects visible in the captured image. The UAV compares the semantic labels to reference labels associated with a reference map to determine a current location estimate. The UAV updates an accumulated location estimate using the current location estimate, and the UAV determines the estimated location of the UAV based on the accumulated location estimate.

公开(公告)号：US20240094743A1

公开(公告)日：2024-03-21

申请号：US17946972

申请日：2022-09-16

Applicant: WING AVIATION LLC

Inventor： Christopher Cobar ,  Jeremie Gabor ,  Ali Shoeb

IPC: G05D1/06 ,  B64C39/02 ,  G05D1/08 ,  G05D1/10 ,  G06V10/75 ,  G06V20/17

CPC classification number: G05D1/0676 ,  B64C39/024 ,  G05D1/0808 ,  G05D1/101 ,  G06V10/751 ,  G06V20/17 ,  B64C2201/127 ,  B64C2201/141

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.

公开(公告)号：US20230316741A1

公开(公告)日：2023-10-05

申请号：US17710516

申请日：2022-03-31

Applicant: Wing Aviation LLC

Inventor： Ali Shoeb ,  Kyle Kakligian ,  Damien Jourdan ,  Michael Zhong ,  Ke Xu ,  Jeremie Gabor

IPC: G06V20/17 ,  B64C39/02 ,  G06K9/62 ,  G06N20/00

CPC classification number: G06V20/17 ,  B64C39/024 ,  G06K9/6259 ,  G06N20/00 ,  B64C2201/127

Abstract: A computer-implemented method comprises receiving an image captured by a camera on an unmanned aerial vehicle (UAV). The image depicts an environment below the UAV. A feature mask associated with the image is generated via a machine learning model that is trained to identify and semantically label pixels representing the environment depicted in the image. One or more reference tiles associated with the environment are retrieved. The reference tiles are associated with particular geographic locations and specify semantically labeled pixels representing the geographic locations. The semantically labeled pixels of the feature mask are correlated with the semantically labeled pixels of at least one of the one or more reference tiles to determine the geographic location of the UAV in the environment.

公开(公告)号：US20230316740A1

公开(公告)日：2023-10-05

申请号：US17710503

申请日：2022-03-31

Applicant: Wing Aviation LLC

Inventor： Ali Shoeb

IPC: G06V20/17 ,  G06V20/10 ,  G06V10/75 ,  G06T7/593 ,  G05D1/10 ,  G05D1/04 ,  B64C39/02 ,  G06N5/04

CPC classification number: G06V20/17 ,  G06V20/176 ,  G06V10/751 ,  G06T7/593 ,  G05D1/106 ,  G05D1/042 ,  B64C39/024 ,  G06N5/04 ,  G06T2207/10012 ,  G06T2207/10032 ,  G06T2207/20061 ,  G06T2207/30261 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/141

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.

公开(公告)号：US20230315123A1

公开(公告)日：2023-10-05

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: G05D1/08 ,  B64C39/02 ,  B64D47/08 ,  B64D1/08 ,  G08G5/00 ,  G05D1/10 ,  G06Q10/08

CPC classification number: G05D1/0808 ,  B64C39/024 ,  B64C39/022 ,  B64D47/08 ,  B64D1/08 ,  G08G5/0069 ,  G05D1/101 ,  G06Q10/0832 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/141

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.