# US 10,871,774 B1 · Three-dimensional analytic tools and methods for inspections using unmanned aerial vehicles

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- Number: US 10,871,774 B1
- Document ID: US10871774B1
- Status: Granted
- Kind: B1
- Application number: 15/698,683
- Filed: 2017-09-08
- Granted: 2020-12-22
- Earliest claimed: 2016-09-08
- Assignees: 5X5 Technologies, Inc.
- Applicants: Eyal Stein
- Inventors: Eyal Stein
- Web page: https://patentgrep.com/patent/US10871774B1

## CPC

- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G06T 17/05: Geographic models
- G06V 20/176: {Urban or other man-made structures}
- B64U 2101/26: for manufacturing, inspections or repairs
- B64U 2101/30: for imaging, photography or videography
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

In various embodiments, three-dimensional models of terrestrial structures are developed and scaled utilizing images acquired during the flight path of an unmanned aerial vehicle.

## Claims

### Claim 1

A method of inspecting a terrestrial structure using an unmanned aerial vehicle (UAV), wherein the terrestrial structure comprises one or more features, the method comprising:
operating the UAV along a flight path that at least partially orbits the terrestrial structure one or more times;
acquiring a plurality of images of the terrestrial structure from the UAV along the flight path, each of the plurality of images being acquired at a different relative position between the UAV and the terrestrial structure, wherein at least some of the plurality of images each include a view of a horizon;
receiving global positioning system (GPS) coordinates of the UAV at each of the different relative positions;
computationally generating a three-dimensional (3D) model of the terrestrial structure from the plurality of images;
computationally aligning the 3D model on three mutually perpendicular axes based at least in part on the views of the horizon included in the at least some of the plurality of images;
computationally calibrating a scale of the 3D model based at least in part on distances between at least some of the different relative positions; and
calculating at least one of a height or an orientation relative to the horizon of at least one of the features using the 3D model.

### Claim 2 (depends on 1)

The method of claim 1, wherein computationally aligning the 3D model on three mutually perpendicular axes comprises computationally aligning the 3D model on (i) a tilt axis and (ii) and a roll axis perpendicular to the tilt axis based at least in part on the views of the horizon included in the at least some of the plurality of images.

### Claim 3 (depends on 2)

The method of claim 2, wherein computationally aligning the 3D model on three mutually perpendicular axes comprises computationally aligning the 3D model on an azimuthal axis perpendicular to the tilt and roll axes based at least in part on the GPS coordinates of at least some of the different relative positions.

### Claim 4 (depends on 1)

The method of claim 1, wherein the structure comprises a cell tower.

### Claim 5 (depends on 4)

The method of claim 4, wherein at least one of the features is an antenna.

### Claim 6 (depends on 1)

The method of claim 1, further comprising, while operating the UAV along the flight path, acquiring a video stream using a video camera on the UAV and transmitting the video stream to at least one of a remote human operator or a remote human recipient having no direct line of sight to the structure.

### Claim 7 (depends on 1)

The method of claim 1, wherein the structure comprises one or more radio-frequency identification (RFID) tags thereon, and further comprising scanning the RFID tags with the UAV while the UAV is operated along the flight path.

### Claim 8 (depends on 7)

The method of claim 7, wherein at least one of the RFID tags comprises a sensor for sensing (i) an environmental condition of the structure, (ii) an environmental condition proximate the structure, or (iii) an environmental condition of and proximate the structure.

### Claim 9 (depends on 8)

The method of claim 8, wherein the sensor comprises at least one of a vibration sensor, a humidity sensor, a corrosion sensor, or a temperature sensor.

### Claim 10 (depends on 1)

The method of claim 1, wherein at least one of the features is an antenna or a transmitter, further comprising, while operating the UAV along the flight path, acquiring one or more signal strengths of the at least one of the features.

### Claim 11 (depends on 1)

The method of claim 1, further comprising rendering the 3D model along a user-selected viewing axis.

### Claim 12 (depends on 1)

The method of claim 1, further comprising, after computationally aligning the 3D model and computationally calibrating the scale of the 3D model, displaying the 3D model to a user.