Patents by Inventor Ryan David Kennedy
Ryan David Kennedy 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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Patent number: 11940795Abstract: 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.Type: GrantFiled: January 20, 2023Date of Patent: March 26, 2024Assignee: SKYDIO, INC.Inventors: Peter Henry, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Bachrach, Adam Bry, Ryan David Kennedy, Himel Mondal, Quentin Allen Wah Yen Delepine
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Publication number: 20240067334Abstract: 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: September 8, 2023Publication date: February 29, 2024Applicant: 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: 11858628Abstract: 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: GrantFiled: January 31, 2023Date of Patent: January 2, 2024Assignee: 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: 11861896Abstract: Autonomous aerial navigation in low-light and no-light conditions includes using night mode obstacle avoidance intelligence, training, and mechanisms for vision-based unmanned aerial vehicle (UAV) navigation to enable autonomous flight operations of a UAV in low-light and no-light environments using infrared data.Type: GrantFiled: March 29, 2022Date of Patent: January 2, 2024Assignee: Skydio, Inc.Inventors: Samuel Shenghung Wang, Vladimir Nekrasov, Ryan David Kennedy, Gareth Benoit Cross, Peter Benjamin Henry, Kristen Marie Holtz, Hayk Martirosyan, Abraham Galton Bachrach, Adam Parker Bry
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Patent number: 11829141Abstract: In some examples, an unmanned aerial vehicle (UAV) may identify a scan target. The UAV may navigate to two or more positions in relation to the scan target. The UAV may capture, using one or more image sensors of the UAV, two or more images of the scan target from different respective positions in relation to the scan target. For instance, the two or more respective positions may be selected by controlling a spacing between the two or more respective positions to enable determination of parallax disparity between a first image captured at a first position and a second image captured at a second position of the two or more positions. The UAV may determine a three-dimensional model corresponding to the scan target based in part on the determined parallax disparity of the two or more images including the first image and the second image.Type: GrantFiled: March 13, 2023Date of Patent: November 28, 2023Assignee: SKYDIO, INC.Inventors: Peter Henry, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Bachrach, Adam Bry, Ryan David Kennedy, Himel Mondal, Quentin Allen Wah Yen Delepine
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Patent number: 11829142Abstract: In some examples, an unmanned aerial vehicle (UAV) may access a scan plan that includes a sequence of poses for the UAV to assume to capture images of a scan target using one or more image sensors. The UAV may check a next pose of the scan plan for obstructions. Responsive to detection of an obstruction, the UAV may determine a backup pose based at least on a field of view of the next pose. The UAV may control a propulsion mechanism to cause the UAV to fly to assume the backup pose. The UAV may capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.Type: GrantFiled: March 13, 2023Date of Patent: November 28, 2023Assignee: SKYDIO, INC.Inventors: Peter Henry, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Bachrach, Adam Bry, Ryan David Kennedy, Himel Mondal, Quentin Allen Wah Yen Delepine
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Publication number: 20230359205Abstract: In some examples, an image of a scan target is presented in a user interface on a display associated with a computing device. The user interface receives at least one user input indicating at least one point in a perimeter or edge of a volume for encompassing the scan target presented in the image of the scan target. A graphical representation of the volume in relation to the image of the scan target is generated in the user interface. Information for defining a location of at least a portion of the volume in three-dimensional space is sent to an unmanned aerial vehicle (UAV) to cause, at least in part, the UAV to scan at least a portion of the scan target corresponding to the volume.Type: ApplicationFiled: July 17, 2023Publication date: November 9, 2023Inventors: Peter HENRY, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Bachrach, Adam Bry, Ryan David Kennedy, Himel Mondal, Quentin Allen Wah Yen Delepine
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Patent number: 11787543Abstract: 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: GrantFiled: January 31, 2023Date of Patent: October 17, 2023Assignee: 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: 20230324911Abstract: 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.Type: ApplicationFiled: January 20, 2023Publication date: October 12, 2023Inventors: Peter HENRY, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Bachrach, Adam Bry, Ryan David Kennedy, Himel Mondal, Quentin Allen Wah Yen Delepine
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Publication number: 20230280765Abstract: A computer accesses an input element storage and an output element storage. The computer accesses a symbolic expression for output element storage as a function of the input element storage. The computer computes, using a symbolic computation engine of the computer, a symbolic expression for the tangent space Jacobian of the output element storage with respect to an input tangent space. The computer outputs the computed expression.Type: ApplicationFiled: January 27, 2023Publication date: September 7, 2023Inventors: Hayk Martirosyan, Aaron Christopher Miller, Nathan Leo Bucki, Bradley Matthew Solliday, Ryan David Kennedy, Jack Louis Zhu, Teodor Tomic, Yixiao Sun, Josiah Timothy VanderMey, Gareth Benoit Cross, Peter Benjamin Henry, Dominic William Pattison, Samuel Shenghung Wang, Kristen Marie Holtz, Harrison Zheng
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Publication number: 20230257115Abstract: 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: January 31, 2023Publication date: August 17, 2023Applicant: 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: 20230257116Abstract: 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: January 31, 2023Publication date: August 17, 2023Applicant: 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: 20230244234Abstract: In some examples, an unmanned aerial vehicle (UAV) may access a scan plan that includes a sequence of poses for the UAV to assume to capture images of a scan target using one or more image sensors. The UAV may check a next pose of the scan plan for obstructions. Responsive to detection of an obstruction, the UAV may determine a backup pose based at least on a field of view of the next pose. The UAV may control a propulsion mechanism to cause the UAV to fly to assume the backup pose. The UAV may capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.Type: ApplicationFiled: March 13, 2023Publication date: August 3, 2023Inventors: Peter HENRY, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Bachrach, Adam Bry, Ryan David Kennedy, Himel Mondal, Quentin Allen Wah Yen Delepine
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Publication number: 20230244233Abstract: In some examples, an unmanned aerial vehicle (UAV) may identify a scan target. The UAV may navigate to two or more positions in relation to the scan target. The UAV may capture, using one or more image sensors of the UAV, two or more images of the scan target from different respective positions in relation to the scan target. For instance, the two or more respective positions may be selected by controlling a spacing between the two or more respective positions to enable determination of parallax disparity between a first image captured at a first position and a second image captured at a second position of the two or more positions. The UAV may determine a three-dimensional model corresponding to the scan target based in part on the determined parallax disparity of the two or more images including the first image and the second image.Type: ApplicationFiled: March 13, 2023Publication date: August 3, 2023Inventors: Peter Henry, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Bachrach, Adam Bry, Ryan David Kennedy, Himel Mondal, Quentin Allen Wah Yen Delepine
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Publication number: 20230244231Abstract: A computer accesses a first symbolic expression for an output matrix as a function of an input matrix at a computing device comprising processing circuitry and memory. The computer computes a first Jacobian of the input matrix with respect to an input tangent space. The computer computes a second Jacobian of the output matrix with respect to the input matrix. The computer computes a third Jacobian of an output tangent space with respect to the input matrix. The computer applies symbolic matrix multiplication to the first Jacobian, the second Jacobian, and the third Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression, the second symbolic expression representing a computed tangent-space Jacobian.Type: ApplicationFiled: January 27, 2023Publication date: August 3, 2023Inventors: Hayk Martirosyan, Aaron Christopher Miller, Nathan Leo Bucki, Bradley Matthew Solliday, Ryan David Kennedy, Jack Louis Zhu, Teodor Tomic, Yixiao Sun, Josiah Timothy VanderMey, Gareth Benoit Cross, Peter Benjamin Henry, Dominic William Pattison, Samuel Shenghung Wang, Kristen Marie Holtz, Harrison Zheng
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Publication number: 20230244750Abstract: A computer accesses a first symbolic expression for an output value as a function of an input value. The computer computes a first symbolic Jacobian of the input value with respect to an input tangent space from a symbolic Lie group definition. The computer computes a second symbolic Jacobian of the output value with respect to the input value. The computer computes a third symbolic Jacobian of an output tangent space with respect to the input value from the symbolic Lie group definition. The computer applies symbolic matrix multiplication to the first symbolic Jacobian, the second symbolic Jacobian, and the third symbolic Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression.Type: ApplicationFiled: January 27, 2023Publication date: August 3, 2023Inventors: Hayk Martirosyan, Aaron Christopher Miller, Nathan Leo Bucki, Bradley Matthew Solliday, Ryan David Kennedy, Jack Louis Zhu, Teodor Tomic, Yixiao Sun, Josiah Timothy VanderMey, Gareth Benoit Cross, Peter Benjamin Henry, Dominic William Pattison, Samuel Shenghung Wang, Kristen Marie Holtz, Harrison Zheng
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Publication number: 20230244247Abstract: A computer of an unmanned aerial vehicle (UAV) accesses, from a memory unit, a problem definition comprising cost functions associated with travel of the UAV. The computer causes movement of the UAV based on the cost functions. The computer adjusts one or more of the cost functions during a flight of the UAV. The computer causes further movement of the UAV based on the adjusted one or more of the cost functions.Type: ApplicationFiled: January 27, 2023Publication date: August 3, 2023Inventors: Hayk Martirosyan, Aaron Christopher Miller, Nathan Leo Bucki, Bradley Matthew Solliday, Ryan David Kennedy, Jack Louis Zhu, Teodor Tomic, Yixiao Sun, Josiah Timothy VanderMey, Gareth Benoit Cross, Peter Benjamin Henry, Dominic William Pattison, Samuel Shenghung Wang, Kristen Marie Holtz, Harrison Zheng
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Publication number: 20230239575Abstract: In some examples, a computing device receives, from an unmanned aerial vehicle (UAV), a first image from a first camera on the UAV and a plurality of second images from a plurality of second cameras on the UAV. The plurality of second cameras may be positioned on the UAV for providing a plurality of different fields of view in a plurality of different directions around the UAV. Further, the first camera has a longer focal length than the second cameras. The computing device presents, on a display, a composite image including at least a portion of the first image within a merged image generated from the plurality of second images. The presented composite image enables a user to at least one of: zoom out from the at least one first image to the merged image, or zoom in from the merged image to the at least one first image.Type: ApplicationFiled: March 17, 2023Publication date: July 27, 2023Inventors: Peter Benjamin HENRY, Hayk MARTIROSYAN, Abraham Galton BACHRACH, Clement GODARD, Adam Parker BRY, Ryan David KENNEDY
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Patent number: 11703864Abstract: In some examples, an unmanned aerial vehicle (UAV) may determine, based on a three-dimensional (3D) model including a plurality of points corresponding to a scan target, a scan plan for scanning at least a portion of the scan target. For instance, the scan plan may include a plurality of poses for the UAV to assume to capture images of the scan target. The UAV may capture with one or more image sensors, one or more images of the scan target from one or more poses of the plurality of poses. Further, the UAV may determine an update to the 3D model based at least in part on the one or more images. Additionally, the UAV may update the scan plan based at least in part on the update to the 3D model.Type: GrantFiled: February 12, 2021Date of Patent: July 18, 2023Assignee: SKYDIO, INC.Inventors: Peter Henry, Jack Zhu, Brian Richman, Harrison Zheng, Hayk Martirosyan, Matthew Donahoe, Abraham Bachrach, Adam Bry, Ryan David Kennedy, Himel Mondal, Quentin Allen Wah Yen Delepine
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Patent number: 11611700Abstract: 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: GrantFiled: July 12, 2021Date of Patent: March 21, 2023Assignee: SKYDIO, INC.Inventors: Peter Benjamin Henry, Hayk Martirosyan, Abraham Galton Bachrach, Clement Godard, Adam Parker Bry, Ryan David Kennedy