Patents by Inventor Abraham Galton Bachrach
Abraham Galton Bachrach has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20220050477Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.Type: ApplicationFiled: October 28, 2021Publication date: February 17, 2022Applicant: Skydio, Inc.Inventors: Ryan David Kennedy, Peter Benjamin Henry, Hayk Martirosyan, Jack Louis Zhu, Abraham Galton Bachrach, Adam Parker Bry
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Publication number: 20220050478Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.Type: ApplicationFiled: October 28, 2021Publication date: February 17, 2022Applicant: Skydio, Inc.Inventors: Ryan David Kennedy, Peter Benjamin Henry, Hayk Martirosyan, Jack Louis Zhu, Abraham Galton Bachrach, Adam Parker Bry
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Patent number: 11242144Abstract: A technique is introduced for autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing a sensor data such as images captured by onboard cameras to generate a ground map comprising multiple cells. A suitable footprint, comprising a subset of the multiple cells in the ground map that satisfy one or more landing criteria, is selected and control commands are generated to cause the aerial vehicle to autonomously land on an area corresponding to the footprint. In some embodiments, the introduced technique involves a geometric smart landing process to select a relatively flat area on the ground for landing. In some embodiments, the introduced technique involves a semantic smart landing process where semantic information regarding detected objects is incorporated into the ground map.Type: GrantFiled: February 11, 2019Date of Patent: February 8, 2022Assignee: Skydio, Inc.Inventors: Kristen Marie Holtz, Hayk Martirosyan, Jack Louis Zhu, Adam Parker Bry, Matthew Joseph Donahoe, Abraham Galton Bachrach, Peter Benjamin Henry, Ryan David Kennedy
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Publication number: 20220014675Abstract: In some examples, an unmanned aerial vehicle (UAV) may control a position of a first camera to cause the first camera to capture a first image of a target. The UAV may receive a plurality of second images from a plurality of second cameras, the plurality of second cameras positioned on the UAV for providing a plurality of different fields of view in a plurality of different directions around the UAV, the first camera having a longer focal length than the second cameras. The UAV may combine at least some of the plurality of second images to generate a composite image corresponding to the first image and having a wider-angle field of view than the first image. The UAV may send the first image and the composite image to a computing device.Type: ApplicationFiled: July 12, 2021Publication date: January 13, 2022Inventors: Peter Benjamin HENRY, Hayk MARTIROSYAN, Abraham Galton BACHRACH, Clement GODARD, Adam Parker BRY, Ryan David KENNEDY
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Publication number: 20210403177Abstract: The technology described herein relates to autonomous aerial vehicle rotor configurations. In some embodiments, the aerial vehicle includes a central body that extends along a longitudinal axis from a forward end to an aft end including a port side opposite a starboard side. Multiple rotor arms each have a proximal end coupled to the central body and a rotor assembly arranged at a distal end to provide propulsion for the aerial vehicle. The rotor assemblies include a first set of rotor assemblies and a second set of rotor assemblies. The first set of rotor assemblies are arranged in a non-inverted configuration on a top side of the aerial vehicle such that each rotor assembly includes an upward-facing rotor. The second set of rotor assemblies are arranged in an inverted configuration on a bottom side of the aerial vehicle such that each rotor assembly includes a downward-facing rotor.Type: ApplicationFiled: May 21, 2021Publication date: December 30, 2021Applicant: Skydio, Inc.Inventors: Benjamin Scott Thompson, Adam Parker Bry, Asher Mendel Robbins-Rothman, Abraham Galton Bachrach, Yevgeniy Kozlenko, Kevin Patrick Smith O'Leary, Patrick Allen Lowe, Daniel Thomas Adams, Justin Michael Sadowski, Zachary Albert West, Josiah Timothy VanderMey
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Publication number: 20210314490Abstract: Embodiments are described for a stabilization system configured, in some embodiments, for stabilizing image capture from an aerial vehicle (e.g., a UAV). According to some embodiments, the stabilization systems employs both active and passive stabilization means. A passive stabilization assembly includes a counter-balanced suspension system that includes an elongated arm that extends into and is coupled to the body of a vehicle. The counter-balanced suspension system passively stabilizes a mounted device such as an image capture device to counter motion of the UAV while in use. In some embodiment the counter-balanced suspension system passively stabilizes a mounted image capture assembly that includes active stabilization means (e.g., a motorized gimbal and/or electronic image stabilization). In some embodiments, the active and passive stabilization means operate together to effectively stabilize a mounted image capture device to counter a wide range of motion characteristics.Type: ApplicationFiled: April 26, 2021Publication date: October 7, 2021Applicant: Skydio, Inc.Inventors: David Kalinowski, Stephen R. McClure, Patrick Allen Lowe, Daniel Thomas Adams, Benjamin Scott Thompson, Adam Parker Bry, Abraham Galton Bachrach
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Publication number: 20210276734Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include an unmanned aerial vehicle including a propulsion mechanism, a battery, and a processing apparatus; and a dock including a landing surface with a funnel geometry shaped to fit a bottom surface of the unmanned aerial vehicle at a base of the funnel, wherein tapered sides of the funnel form corners at the base of the funnel, and a battery charger configured to charge the battery of the unmanned aerial vehicle while the unmanned aerial vehicle is on the landing surface, wherein conducting contacts of the battery charger are on the landing surface, positioned at the bottom of the funnel.Type: ApplicationFiled: March 31, 2021Publication date: September 9, 2021Inventors: Yevgeniy Kozlenko, Jack Zhu, Gareth Cross, Teodor Tomic, Adam Bry, Abraham Galton Bachrach
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Publication number: 20210276733Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include a landing surface configured to hold an unmanned aerial vehicle; a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock; and a retractable arm, wherein the landing surface is positioned at an end of the retractable arm and the retractable arm is configured to extend to move the landing surface outside of the box and contract to pull the landing surface inside of the box.Type: ApplicationFiled: March 31, 2021Publication date: September 9, 2021Inventors: Yevgeniy Kozlenko, Jack Zhu, Gareth Cross, Teodor Tomic, Adam Bry, Abraham Galton Bachrach
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Publication number: 20210271264Abstract: A technique is introduced for touchdown detection during autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing perception inputs with a dynamics model of the aerial vehicle to estimate the external forces and/or torques acting on the aerial vehicle. The estimated external forces and/or torques are continually monitored while the aerial vehicle is landing to determine when the aerial vehicle is sufficiently supported by a landing surface. In some embodiments, semantic information associated with objects in the environment is utilized to configure parameters associated with the touchdown detection process.Type: ApplicationFiled: May 3, 2021Publication date: September 2, 2021Applicant: Skydio, Inc.Inventors: Rowland Wilde O'Flaherty, Teodor Tomic, Hayk Martirosyan, Abraham Galton Bachrach, Kristen Marie Holtz, Jack Louis Zhu
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Publication number: 20210245860Abstract: The technology described herein relates to autonomous aerial vehicle technology and, more specifically, to environment illumination for autonomous unmanned aerial vehicles. In some embodiments, a UAV includes upward-facing image capture devices, downward-facing image capture devices, one or more illumination sources, and a computer system. The computer system is configured to direct the one or more illumination sources to selectively emit light into a surrounding physical environment while the UAV is in flight, process images captured by any one or more of the plurality of upward-facing image capture devices or the plurality of downward-facing image capture devices to estimate a position and/or orientation of the aerial vehicle, generate a planned trajectory for the aerial vehicle through a physical environment based on the processing of the images, and control a propulsion system and/or flight surface of the aerial vehicle to cause the aerial vehicle to autonomously maneuver along the planned trajectory.Type: ApplicationFiled: March 31, 2021Publication date: August 12, 2021Applicant: Skydio, Inc.Inventors: Adam Parker Bry, Abraham Galton Bachrach, Kevin Patrick Smith O'Leary, Asher Mendel Robbins-Rothman, Zachary Albert West, Daniel Thomas Adams, Christopher Brian Grasberger, Enyu Luo, Benjamin Scott Thompson
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Publication number: 20210214068Abstract: The technology described herein relates to autonomous aerial vehicle technology and, more specifically, to image stabilization systems for autonomous aerial vehicles. In some embodiments, a UAV including a central body, an image capture assembly that couples the image capture assembly to the central body. The image stabilization assembly is configured to provide structural protection and support around the image capture assembly while passively isolating the image capture assembly from vibrations and other motion of the central body while the UAV is in flight.Type: ApplicationFiled: January 20, 2021Publication date: July 15, 2021Inventors: Adam Parker Bry, Abraham Galton Bachrach, Yevgeniy Kozlenko, Kevin Patrick Smith O'Leary, Asher Mendel Robbins-Rothman, Zachary Albert West, Daniel Thomas Adams, Donald Allen Severns, Patrick Allen Lowe, Benjamin Scott Thompson
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Publication number: 20210214067Abstract: The technology described herein relates to autonomous aerial vehicle technology and, more specifically, to autonomous unmanned aerial vehicle with folding collapsible arms. In some embodiments, a UAV including a central body, a plurality of rotor arms, and a plurality of hinge mechanisms is disclosed. The plurality of rotor arms each include a rotor unit at a distal end of the rotor arm. The rotor units are configured to provide propulsion for the UAV. The plurality of hinge mechanisms mechanically attach (or couple) proximal ends of the plurality of rotor arms to the central body. Each hinge mechanism is configured to rotate a respective rotor arm of the plurality of rotor arms about an axis of rotation that is at an oblique angle relative to a vertical median plane of the central body to transition between an extended state and a folded state.Type: ApplicationFiled: January 13, 2021Publication date: July 15, 2021Inventors: Zachary Albert West, Yevgeniy Kozlenko, Kevin Patrick Smith O'Leary, Benjamin Scott Thompson, Abraham Galton Bachrach, Adam Parker Bry, Asher Mendel Robbins-Rothman, Brett Nicholas Randolph, Dylan Matthew Callaway, Daniel Thomas Adams
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Publication number: 20210141375Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.Type: ApplicationFiled: October 5, 2020Publication date: May 13, 2021Inventors: Abraham Galton Bachrach, Adam Parker Bry, Matthew Joseph Donahoe
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Patent number: 10996683Abstract: A technique is introduced for touchdown detection during autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing perception inputs with a dynamics model of the aerial vehicle to estimate the external forces and/or torques acting on the aerial vehicle. The estimated external forces and/or torques are continually monitored while the aerial vehicle is landing to determine when the aerial vehicle is sufficiently supported by a landing surface. In some embodiments, semantic information associated with objects in the environment is utilized to configure parameters associated with the touchdown detection process.Type: GrantFiled: February 11, 2019Date of Patent: May 4, 2021Assignee: Skydio, Inc.Inventors: Rowland Wilde O'Flaherty, Teodor Tomic, Hayk Martirosyan, Abraham Galton Bachrach, Kristen Marie Holtz, Jack Louis Zhu
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Publication number: 20210125503Abstract: 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.Type: ApplicationFiled: August 6, 2020Publication date: April 29, 2021Inventors: Peter Henry, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Galton Bachrach, Adam Bry
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Publication number: 20210125406Abstract: 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.Type: ApplicationFiled: June 8, 2020Publication date: April 29, 2021Inventors: Peter Henry, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Galton Bachrach, Adam Bry
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Patent number: 10992865Abstract: Embodiments are described for a stabilization system configured, in some embodiments, for stabilizing image capture from an aerial vehicle (e.g., a UAV). According to some embodiments, the stabilization systems employs both active and passive stabilization means. A passive stabilization assembly includes a counter-balanced suspension system that includes an elongated arm that extends into and is coupled to the body of a vehicle. The counter-balanced suspension system passively stabilizes a mounted device such as an image capture device to counter motion of the UAV while in use. In some embodiment the counter-balanced suspension system passively stabilizes a mounted image capture assembly that includes active stabilization means (e.g., a motorized gimbal and/or electronic image stabilization). In some embodiments, the active and passive stabilization means operate together to effectively stabilize a mounted image capture device to counter a wide range of motion characteristics.Type: GrantFiled: September 23, 2019Date of Patent: April 27, 2021Assignee: Skydio, Inc.Inventors: David Kalinowski, Stephen R. McClure, Patrick Allen Lowe, Daniel Thomas Adams, Benjamin Scott Thompson, Adam Parker Bry, Abraham Galton Bachrach
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Publication number: 20210107682Abstract: Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include an unmanned aerial vehicle including a propulsion mechanism, an image sensor, and processing apparatus; and a dock including a landing surface configured to hold the unmanned aerial vehicle and a fiducial on the landing surface, wherein the processing apparatus is configured to: control the propulsion mechanism to cause the unmanned aerial vehicle to fly to a first location in a vicinity of the dock; access one or more images captured using the image sensor; detect the fiducial in at least one of the one or more images; determine a pose of the fiducial based on the one or more images; and control, based on the pose of the fiducial, the propulsion mechanism to cause the unmanned aerial vehicle to land on the landing surface.Type: ApplicationFiled: August 12, 2020Publication date: April 15, 2021Inventors: Yevgeniy Kozlenko, Jack Zhu, Gareth Benoit Cross, Teodor Tomic, Adam Bry, Abraham Galton Bachrach
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Publication number: 20210036594Abstract: An actuator is introduced that utilizes the forces that result from placing a current carrying coil in a magnetic field to rotate a connected object about at least one axis. In some embodiments, the introduced coil actuator includes a coil of conductor coupled to an arm or other type of structural element that extends radially from an axis of rotation. The introduced coil actuator can be utilized to provide motion control in a variety of different applications such as gimbal mechanisms. In some embodiments, the introduced coil actuator can be implemented in a gimbal mechanism for adjusting an orientation of a device such as a camera relative to a connected platform such as the body of an aerial vehicle.Type: ApplicationFiled: September 9, 2020Publication date: February 4, 2021Inventors: Daniel Thomas Adams, Patrick Allen Lowe, Benjamin Scott Thompson, Abraham Galton Bachrach, Adam Parker Bry
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Patent number: 10795353Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.Type: GrantFiled: September 24, 2019Date of Patent: October 6, 2020Assignee: SKYDIO, INC.Inventors: Abraham Galton Bachrach, Adam Parker Bry, Matthew Joseph Donahoe