US 12,416,918 B2
Unmanned aerial image capture platform
Hayk Martirosyan, San Francisco, CA (US); Adam Bry, Redwood City, CA (US); Matthew Donahoe, Redwood City, CA (US); Abraham Bachrach, Emerald Hills, CA (US); and Justin Michael Sadowski, Menlo Park, CA (US)
Assigned to Skydio, Inc., San Mateo, CA (US)
Filed by Skydio, Inc., San Mateo, CA (US)
Filed on Sep. 7, 2023, as Appl. No. 18/463,149.
Application 18/463,149 is a continuation of application No. 17/899,459, filed on Aug. 30, 2022, granted, now 11,797,009.
Application 17/899,459 is a continuation of application No. 17/388,828, filed on Jul. 29, 2021, granted, now 11,460,844, issued on Oct. 4, 2022.
Application 17/388,828 is a continuation of application No. 16/723,549, filed on Dec. 20, 2019, granted, now 11,126,182, issued on Sep. 21, 2021.
Application 16/723,549 is a continuation of application No. 15/235,513, filed on Aug. 12, 2016, granted, now 10,520,943, issued on Dec. 31, 2019.
Prior Publication US 2024/0069547 A1, Feb. 29, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); B64U 101/30 (2023.01); G06T 7/292 (2017.01)
CPC G05D 1/0094 (2013.01) [G05D 1/106 (2019.05); G06T 7/292 (2017.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01); G06T 2207/10021 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
capturing, by multiple image sensors of a vehicle, images of a physical environment surrounding the vehicle;
processing the images of the physical environment surrounding the vehicle to identify images with overlapping fields of view;
processing the images with overlapping fields of view to identify dense correspondences between the images, wherein the dense correspondences indicate matches between pixels in the images with overlapping fields of view;
estimating distances to the pixels in the images with overlapping fields of view using the identified dense correspondences; and
generating and continually updating a three-dimensional (3D) map of the physical environment based on the estimated distances.