US 12,189,389 B2
Determining a three-dimensional model of a scan target
Peter Henry, San Francisco, CA (US); Jack Zhu, San Francisco, CA (US); Brian Richman, San Francisco, CA (US); Harrison Zheng, Palo Alto, CA (US); Hayk Martirosyan, San Francisco, CA (US); Matthew Donahoe, Redwood City, CA (US); Abraham Bachrach, Redwood City, CA (US); Adam Bry, Redwood City, CA (US); Ryan David Kennedy, Redwood City, CA (US); Himel Mondal, Windsor (CA); and Quentin Allen Wah Yen Delepine, Cupertino, CA (US)
Assigned to SKYDIO, INC., San Mateo, CA (US)
Filed by SKYDIO, INC., Redwood City, CA (US)
Filed on Nov. 27, 2023, as Appl. No. 18/520,072.
Application 18/520,072 is a continuation of application No. 18/120,643, filed on Mar. 13, 2023, granted, now 11,829,141.
Application 18/120,643 is a continuation of application No. 17/174,583, filed on Feb. 12, 2021, granted, now 11,703,864, issued on Jul. 18, 2023.
Claims priority of provisional application 63/050,860, filed on Jul. 12, 2020.
Claims priority of provisional application 62/976,231, filed on Feb. 13, 2020.
Prior Publication US 2024/0295876 A1, Sep. 5, 2024
Int. Cl. G05D 1/69 (2024.01); B64C 39/02 (2023.01); B64D 31/06 (2006.01); B64D 47/08 (2006.01); G05B 13/02 (2006.01); G05B 17/02 (2006.01); G05D 1/00 (2006.01); G05D 1/227 (2024.01); G05D 1/689 (2024.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01); G06T 17/00 (2006.01); G06T 19/20 (2011.01); G06V 20/13 (2022.01); G06V 20/64 (2022.01); H04N 23/60 (2023.01); H04N 23/695 (2023.01); H04N 23/90 (2023.01); B64U 10/13 (2023.01); B64U 101/30 (2023.01)
CPC G05D 1/0094 (2013.01) [B64C 39/024 (2013.01); B64D 31/06 (2013.01); B64D 47/08 (2013.01); G05B 13/0265 (2013.01); G05B 17/02 (2013.01); G05D 1/0088 (2013.01); G05D 1/101 (2013.01); G05D 1/227 (2024.01); G05D 1/689 (2024.01); G05D 1/69 (2024.01); G06T 7/55 (2017.01); G06T 7/74 (2017.01); G06T 17/00 (2013.01); G06T 19/20 (2013.01); G06V 20/13 (2022.01); G06V 20/64 (2022.01); H04N 23/64 (2023.01); H04N 23/695 (2023.01); H04N 23/90 (2023.01); B64U 10/13 (2023.01); B64U 2101/30 (2023.01); G06T 2207/10032 (2013.01); G06T 2207/20221 (2013.01); G06T 2219/2004 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An unmanned aerial vehicle (UAV) comprising:
one or more image sensors;
a propulsion mechanism; and
one or more processors configured by executable instructions to at least:
control the propulsion mechanism to cause the UAV to navigate to a plurality of positions in relation to a scan target;
capture, using the one or more image sensors, a first image of the scan target from a first position of the plurality of positions, and a second image of the scan target from a second position of the plurality of positions;
determine a disparity between the first image captured at the first position and the second image captured at the second position; and
determine a three-dimensional (3D) model corresponding to the scan target based in part on the disparity determined between the first image and the second image.