Abstract: Described are systems and methods for surveying a destination as an unmanned aerial vehicle (“UAV”) descends toward the destination. To confirm that the destination is clear of objects and includes a safe landing or delivery location, such as a substantially planar surface, the UAV may capture and process images at different altitudes during the descent. Feature points of a first image captured at a first altitude may be paired with feature points of a second image captured at a second, different altitude. A homography may be computed to confirm that the paired feature points lie in the same plane and then the two images may be registered based on the paired feature points. The registered images may then be processed to determine depth information and determine if descent of the UAV is to continue or be aborted.

Abstract: Described are systems, methods, and apparatus for detecting objects within a distance of an aerial vehicle, such as an unmanned aerial vehicle (“UAV”), and developing a three-dimensional model or representation of those objects. Rather than attempting to use stereo imagery to determine distances and/or depth of objects, the described implementations utilize range-gating, also known as time-gating, and the known position of the aerial vehicle to develop a three-dimensional representation of objects. For example, when the aerial vehicle is at a first position it may use range-gating to detect an object at a defined distance from the vehicle. The aerial vehicle may then alter its position again and use range-gating to detect an object that is the defined distance from the vehicle at the new position. This may be done at several different positions and the resulting information and aerial vehicle position information combined to form a three-dimensional representation of those objects.

Abstract: Described is an imaging component for use by an unmanned aerial vehicle (“UAV”) for object detection. As described, the imaging component includes one or more cameras that are configured to obtain images of a scene using visible light that are converted into a depth map (e.g., stereo image) and one or more other cameras that are configured to form images, or thermograms, of the scene using infrared radiation (“IR”). The depth information and thermal information are combined to form a representation of the scene based on both depth and thermal information.

Abstract: Described are methods and apparatuses for synchronizing two or more sensors of an UAV. In the implementations described, a synchronization event is performed such that identifiable signals of the synchronization event can be collected by each sensor of the UAV. The synchronization event may be generated by a synchronization event component that generates multiple output signals (e.g., audio, visual, and physical) at approximately the same time so that different sensors can each collect and store at least one of the output signals. The collected signals are then compared and the sensors are adjusted to align the signals.

Abstract: An unmanned aerial vehicle (UAV) may provide an approach notification to enable people to understand and interpret actions by the UAV, such as an intention to land or deposit a package at a particular location. The UAV may communicate a specific intention of the UAV and/or communicate a request to a person. The UAV may monitor the person or data signals for a response from the person, such as movement of the person that indicates a response. The UAV may be equipped with hardware and/or software configured to provide notifications and/or exchange information with a person at or near a destination. The UAV may include lights, a speaker, and possibly a projector to enable the UAV to project information and/or text on a surface. The UAV may control a moveable mechanism to “point” toward the person, at an object, or in another direction.

Abstract: Described is an imaging component for use by an unmanned aerial vehicle (“UAV”) for object detection. As described, the imaging component includes one or more cameras that are configured to obtain images of a scene using visible light that are converted into a depth map (e.g., stereo image) and one or more other cameras that are configured to form images, or thermograms, of the scene using infrared radiation (“IR”). The depth information and thermal information are combined to form a representation of the scene based on both depth and thermal information.

Abstract: An aerial vehicle may include a first sensor, such as a digital camera, having a lens or other component that includes a second sensor mounted thereto. Information or data, such as digital images, captured using the second sensor may be used to determine or predict motion of the lens, which may include components of translational and/or rotational motion. Once the motion of the lens has been determined or predicted, such motion may be used to stabilize information or data, such as digital images, captured using the first sensor, according to optical or digital stabilization techniques. Where operations of the first sensor and the second sensor are synchronized, motion of the second sensor may be modeled based on information or data captured thereby, and imputed to the first sensor.

Abstract: This disclosure describes a configuration of an aerial vehicle, such as an unmanned aerial vehicle (“UAV”), that includes a plurality of cameras that may be selectively combined to form a stereo pair for use in obtaining stereo images that provide depth information corresponding to objects represented in those images. Depending on the distance between an object and the aerial vehicle, different cameras may be selected for the stereo pair based on the baseline between those cameras and a distance between the object and the aerial vehicle. For example, cameras with a small baseline (close together) may be selected to generate stereo images and depth information for an object that is close to the aerial vehicle. In comparison, cameras with a large baseline may be selected to generate stereo images and depth information for an object that is farther away from the aerial vehicle.

Abstract: Described is an imaging component for use by an unmanned aerial vehicle (“UAV”) for object detection. As described, the imaging component includes one or more cameras that are configured to obtain images of a scene using visible light that are converted into a depth map (e.g., stereo image) and one or more other cameras that are configured to form images, or thermograms, of the scene using infrared radiation (“IR”). The depth information and thermal information are combined to form a representation of the scene based on both depth and thermal information.

Abstract: A configuration of a multirotor aircraft that will facilitate enhanced yaw control includes one or more adjustable members that will twist the frame of the multirotor aircraft, thereby adjusting the orientation of the motors and propellers and enhancing the yaw control of the multirotor aircraft. In some implementations, the adjustable member(s) are passive and twist in response to differential thrusts generated by the propellers. In other implementations, the adjustable members are active and twist in response to a yaw command from the multirotor aircraft control system.

Abstract: Described are systems and methods for surveying a destination as an unmanned aerial vehicle (“UAV”) descends toward the destination. To confirm that the destination is clear of objects and includes a safe landing or delivery location, such as a substantially planar surface, the UAV may capture and process images at different altitudes during the descent. Feature points of a first image captured at a first altitude may be paired with feature points of a second image captured at a second, different altitude. A homography may be computed to confirm that the paired feature points lie in the same plane and then the two images may be registered based on the paired feature points. The registered images may then be processed to determine depth information and determine if descent of the UAV is to continue or be aborted.

Abstract: Described are methods and apparatuses for synchronizing two or more sensors of an UAV. In the implementations described, a synchronization event is performed such that identifiable signals of the synchronization event can be collected by each sensor of the UAV. The synchronization event may be generated by a synchronization event component that generates multiple output signals (e.g., audio, visual, and physical) at approximately the same time so that different sensors can each collect and store at least one of the output signals. The collected signals are then compared and the sensors are adjusted to align the signals.