US 11,694,404 B2
Estimating a condition of a physical structure
James M. Freeman, Normal, IL (US); Roger D. Schmidgall, Normal, IL (US); Patrick H. Boyer, Bloomington, IL (US); Nicholas U. Christopulos, Bloomington, IL (US); Jonathan D. Maurer, Bloomington, IL (US); Nathan L. Tofte, Downs, IL (US); and Jackie O. Jordan, II, Bloomington, IL (US)
Assigned to STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY, Bloomington, IL (US)
Filed by STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY, Bloomington, IL (US)
Filed on Mar. 7, 2022, as Appl. No. 17/687,843.
Application 17/687,843 is a continuation of application No. 16/831,547, filed on Mar. 26, 2020, granted, now 11,295,523.
Application 16/831,547 is a continuation of application No. 15/975,836, filed on May 10, 2018, granted, now 10,679,262.
Application 15/975,836 is a continuation of application No. 14/968,147, filed on Dec. 14, 2015, granted, now 10,013,708.
Application 14/968,147 is a continuation of application No. 14/496,802, filed on Sep. 25, 2014, granted, now 9,262,788.
Application 14/496,802 is a continuation of application No. 13/836,695, filed on Mar. 15, 2013, granted, now 8,872,818.
Prior Publication US 2022/0189117 A1, Jun. 16, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 17/20 (2006.01); G06T 7/00 (2017.01); G06T 1/00 (2006.01); H04N 13/106 (2018.01); H04N 13/254 (2018.01); H04N 13/271 (2018.01); H04N 13/275 (2018.01); G01S 17/89 (2020.01); G01S 13/89 (2006.01); B64C 39/02 (2023.01); G06F 30/13 (2020.01); G01S 17/86 (2020.01); G01S 15/89 (2006.01); G06Q 40/08 (2012.01); G06Q 50/16 (2012.01); G06Q 30/0283 (2023.01); G06Q 30/02 (2023.01); H04R 23/00 (2006.01); G01N 21/64 (2006.01); G01N 21/88 (2006.01); G01S 7/481 (2006.01); H04N 7/18 (2006.01); G01N 22/02 (2006.01)
CPC G06T 17/20 (2013.01) [B64C 39/024 (2013.01); G01N 21/64 (2013.01); G01N 21/8851 (2013.01); G01N 22/02 (2013.01); G01S 7/4817 (2013.01); G01S 13/89 (2013.01); G01S 15/89 (2013.01); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G06F 30/13 (2020.01); G06Q 30/0278 (2013.01); G06Q 30/0283 (2013.01); G06Q 40/08 (2013.01); G06Q 50/16 (2013.01); G06Q 50/163 (2013.01); G06T 1/0007 (2013.01); G06T 7/0002 (2013.01); H04N 7/185 (2013.01); H04N 13/106 (2018.05); H04N 13/254 (2018.05); H04N 13/271 (2018.05); H04N 13/275 (2018.05); H04R 23/008 (2013.01); G01N 2201/06113 (2013.01); G01N 2201/10 (2013.01); G06T 2200/08 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method of inspecting a structure, the method comprising:
receiving, by one or more processors, data collected by an unmanned aerial vehicle (UAV) corresponding to points on a surface of a structure;
identifying, by the one or more processors, a plurality of coordinate sets associated with the UAV data, the coordinate sets each relating to vertical, horizontal, and depth distance measurements;
normalizing, by the one or more processors, the plurality of coordinate sets to share a common coordinate system; and
generating, by the one or more processors, a 3D point cloud for the structure, wherein the 3D point cloud is generated based at least in part on the received UAV data and the normalized plurality of coordinate sets.