US 12,221,211 B2
Semantic adjustment of unmanned aerial vehicle delivery points
Ali Shoeb, San Rafael, CA (US); Marcus Hammond, Redwood City, CA (US); Christopher Cobar, Shoreview, MN (US); Kyle Krafka, Los Altos, CA (US); Kyle Julian, Mountain View, CA (US); and Kevin Jenkins, Dallas, TX (US)
Assigned to Wing Aviation LLC, Palo Alto, CA (US)
Filed by Wing Aviation LLC, Mountain View, CA (US)
Filed on Mar. 31, 2022, as Appl. No. 17/657,538.
Prior Publication US 2023/0312091 A1, Oct. 5, 2023
Int. Cl. B64C 39/02 (2023.01); G05D 1/00 (2024.01); G05D 1/04 (2006.01); G06V 20/17 (2022.01); G06V 20/58 (2022.01); B64U 101/60 (2023.01); G06Q 10/08 (2023.01)
CPC B64C 39/024 (2013.01) [G05D 1/0094 (2013.01); G05D 1/042 (2013.01); G06V 20/17 (2022.01); G06V 20/58 (2022.01); B64U 2101/60 (2023.01); B64U 2201/10 (2023.01); B64U 2201/20 (2023.01); G06Q 10/08 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
capturing, by a sensor on an unmanned aerial vehicle (UAV), an image of a delivery location;
determining, based on the image of the delivery location, a segmentation image, wherein the segmentation image segments the delivery location into a plurality of pixel areas with corresponding semantic classifications;
determining, based on the segmentation image, a distance-to-obstacle image of a delivery zone at the delivery location, wherein the distance-to-obstacle image comprises a plurality of pixels, each pixel representing a distance in the segmentation image from a nearest pixel area with a semantic classification indicative of an obstacle in the delivery location;
selecting, based on the distance-to-obstacle image, a delivery point in the delivery zone; and
positioning the UAV above the delivery point in the delivery zone for delivery of a payload.