US 12,444,133 B2
Method for autonomously scanning and constructing a representation of a stand of trees
Steven Chen, Philadelphia, PA (US); Elizabeth Hunter, Philadelphia, PA (US); and Michael Shomin, Philadelphia, PA (US)
Assigned to Treeswift Inc., Philadelphia, PA (US)
Filed by Treeswift Inc., Philadelphia, PA (US)
Filed on May 19, 2023, as Appl. No. 18/199,863.
Claims priority of provisional application 63/343,979, filed on May 19, 2022.
Prior Publication US 2023/0386132 A1, Nov. 30, 2023
Int. Cl. G06T 17/05 (2011.01); G06T 7/11 (2017.01); G06T 7/13 (2017.01); G06T 7/60 (2017.01); G06T 7/62 (2017.01); G06V 10/25 (2022.01); G06V 10/44 (2022.01); G06V 10/80 (2022.01); G06V 20/10 (2022.01); G06V 20/17 (2022.01)
CPC G06T 17/05 (2013.01) [G06T 7/11 (2017.01); G06T 7/13 (2017.01); G06T 7/60 (2013.01); G06T 7/62 (2017.01); G06V 10/25 (2022.01); G06V 10/44 (2022.01); G06V 10/806 (2022.01); G06V 20/17 (2022.01); G06V 20/188 (2022.01); G06T 2207/10016 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/30188 (2013.01); G06T 2207/30242 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
accessing a boundary of a stand of trees;
defining an array of scan zones within the boundary of the stand of trees;
defining a flight path comprising:
a first waypoint at a first altitude above a first set of trees within a first scan zone;
a second waypoint at a second altitude proximal a first floor within the first scan zone;
a third waypoint at a third altitude proximal a second floor within a second scan zone;
a fourth waypoint at a fourth altitude above a second set of trees within the second scan zone; and
a fifth waypoint at a fifth altitude above a third set of trees within a third scan zone;
accessing a first set of images comprising:
a first sequence of images representing tops of the first set of trees and captured by an aerial vehicle proximal the first waypoint;
a second sequence of images representing bases of the first set of trees and captured by the aerial vehicle proximal the second waypoint;
a third sequence of images representing bases of the second set of trees and captured by the aerial vehicle proximal the third waypoint;
a fourth sequence of images representing tops of the second set of trees and captured by the aerial vehicle proximal the fourth waypoint; and
a fifth sequence of images representing tops of the third set of trees and captured by the aerial vehicle proximal the fifth waypoint;
interpolating a first set of tree canopy characteristics of a fourth set of trees between the first scan zone and the second scan zone based on visual features detected in the first sequence of images and the fourth sequence of images;
interpolating a first set of lower tree characteristics of the fourth set of trees between the first scan zone and the second scan zone based on visual features detected in the second sequence of images and the third sequence of images;
interpolating a second set of tree canopy characteristics of a fifth set of trees between the second scan zone and the third scan zone based on visual features detected in the fourth sequence of images and the fifth sequence of images; and
compiling the first set of tree canopy characteristics, the first set of lower tree characteristics, and the second set of tree canopy characteristics into a virtual representation of tree characteristics across the stand of trees.