US 12,242,282 B2
Pixel-by-pixel segmentation of aerial imagery for autonomous vehicle control
Christopher Cobar, Mountain View, CA (US); Jeremie Gabor, Mountain View, CA (US); and Ali Shoeb, San Rafael, CA (US)
Assigned to Wing Aviation LLC, Palo Alto, CA (US)
Filed by WING AVIATION LLC, Mountain View, CA (US)
Filed on Sep. 16, 2022, as Appl. No. 17/946,972.
Prior Publication US 2024/0094743 A1, Mar. 21, 2024
Int. Cl. G05D 1/00 (2024.01); B64C 39/02 (2023.01); B64U 101/30 (2023.01); G06V 10/75 (2022.01); G06V 20/17 (2022.01)
CPC G05D 1/0676 (2013.01) [B64C 39/024 (2013.01); G05D 1/0808 (2013.01); G05D 1/101 (2013.01); G06V 10/751 (2022.01); G06V 20/17 (2022.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A non-transitory computer-readable medium having computer-executable instructions stored thereon that, in response to execution by one or more processors of an unmanned aerial vehicle (UAV), cause the UAV to perform actions comprising:
capturing at least one image using a camera of the UAV;
generating labels for pixels of the at least one image by providing the at least one image as input to a machine learning model, wherein the labels include an unoccupied landing space pixel label, an occupied landing space pixel label, and a non-landing space pixel label;
identifying one or more landing spaces in the at least one image based on the labels;
determining a relative position of the UAV with respect to the one or more landing spaces; and
transmitting signals to one or more propulsion devices of the UAV based on the relative position of the UAV with respect to the one or more landing spaces, wherein the signals cause the UAV to autonomously execute a maneuver, and wherein the maneuver is a stationary hover or a landing in an unoccupied landing space.