US 11,749,124 B2
User interaction with an autonomous unmanned aerial vehicle
Abraham Galton Bachrach, Redwood Ctiy, CA (US); Adam Parker Bry, Redwood City, CA (US); Matthew Joseph Donahoe, Redwood City, CA (US); and Hayk Martirosyan, San Francisco, CA (US)
Assigned to Skydio, Inc., San Mateo, CA (US)
Filed by Skydio, Inc., Redwood City, CA (US)
Filed on Jun. 12, 2019, as Appl. No. 16/439,448.
Claims priority of provisional application 62/683,971, filed on Jun. 12, 2018.
Prior Publication US 2019/0378423 A1, Dec. 12, 2019
Int. Cl. G08G 5/00 (2006.01); G06T 19/00 (2011.01); G06T 7/70 (2017.01); G05D 1/10 (2006.01); B64C 39/02 (2023.01); G05D 1/00 (2006.01); H04L 67/131 (2022.01); B64U 101/30 (2023.01)
CPC G08G 5/0069 (2013.01) [B64C 39/024 (2013.01); G05D 1/0088 (2013.01); G05D 1/106 (2019.05); G06T 7/70 (2017.01); G06T 19/003 (2013.01); G06T 19/006 (2013.01); G08G 5/0039 (2013.01); H04L 67/131 (2022.05); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01); G06T 2207/10032 (2013.01); G06T 2219/024 (2013.01)] 39 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a computer system, perception inputs generated by a sensor device on board the autonomous aerial vehicle in flight through a physical environment;
processing, by the computer system, the perception inputs to detect a physical object that is in the physical environment;
estimating, by the computer system, a position of the detected physical object in the physical environment;
estimating, by the computer system, a position of the autonomous aerial vehicle within the physical environment;
updating, by the computer system, a shared virtual environment that is representative of the physical environment to include a virtual representation of the physical object at a virtual location in the shared virtual environment that corresponds with the estimated position of the physical object in the physical environment and a virtual representation of the autonomous aerial vehicle at a virtual location in the shared virtual environment that corresponds with the estimated position of the autonomous aerial vehicle within the physical environment;
enabling, by the computer system, access to the shared virtual environment to a plurality of network-connected user devices; and
causing visual display of a view of the shared virtual environment including the virtual representation of the physical object and the virtual representation of the autonomous aerial vehicle at a particular network-connected user device of the plurality of network-connected user devices.