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

IPC: G06T7/73 ,  B64D45/00 ,  B64U10/20 ,  G06V20/17

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.