# US 11,443,518 B2 · Uncrewed aerial vehicle shared environment privacy and security > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,443,518 B2 - Document ID: US11443518B2 - Status: Granted - Kind: B2 - Application number: 17/107,736 - Filed: 2020-11-30 - Published: 2022-06-02 - Granted: 2022-09-13 - Earliest claimed: 2020-11-30 - Assignees: AT&T Intellectual Property I, L.P.; AT&T Mobility II LLC - Applicants: AT&T Intellectual Property I, L.P.; AT&T Mobility II LLC - Inventors: Zhi Cui; Sangar Dowlatkhah; Sameena Khan; Troy Paige; Ari Craine; Robert Koch - Web page: https://patentgrep.com/patent/US11443518B2 ## CPC - G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) - B64U 10/13: Flying platforms - G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section} - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 19/485: {whereby the further system is an optical system or imaging system} - G06T 5/77: Retouching; Inpainting; Scratch removal - G06T 7/13: Edge detection - G06T 7/50: Depth or shape recovery - G06T 7/73: using feature-based methods - G06V 10/56: relating to colour - G06V 20/17: taken from planes or by drones - G06V 20/176: {Urban or other man-made structures} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - H04N 7/185: {from a mobile camera, e.g. for remote control} - H04N 7/188: {Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position (signal generation from motion picture films H04N5/253)} - H04N 21/2187: Live feed - H04N 21/234345: {the reformatting operation being performed only on part of the stream, e.g. a region of the image or a time segment} - H04N 23/61: based on recognised objects - B64U 2101/31: for surveillance - B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS - B64U 2201/20: Remote controls - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 17/89: for mapping or imaging - G06T 2207/10032: Satellite or aerial image; Remote sensing - G06T 2207/20081: Training; Learning - G06T 2207/30232: Surveillance - H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A processing system including at least one processor may capture at least one image via at least one imaging sensor of an uncrewed aerial vehicle in a shared environment, detect a window within the at least one image, determine a location of the window in the shared environment, based upon a position of the uncrewed aerial vehicle and a distance between the uncrewed aerial vehicle and at least a portion of the window that is calculated from the at least one image, and record the location of the window in a map of the shared environment as a prohibited imaging zone. ## Claims ### Claim 1 A method comprising: capturing, by a processing system including at least one processor, at least one image via at least one imaging sensor of an uncrewed aerial vehicle in a shared environment, wherein the shared environment comprises at least one of: a residential complex, an educational complex, or a business complex; detecting, by the processing system, a window within the at least one image; determining, by the processing system, a location of the window in the shared environment, based upon a position of the uncrewed aerial vehicle and a distance between the uncrewed aerial vehicle and at least a portion of the window that is calculated from the at least one image; recording, by the processing system, the location of the window in a map of the shared environment as a prohibited imaging zone; and providing, by the processing system, the map of the shared environment with the location of the window recorded as the prohibited imaging zone to at least one other uncrewed aerial vehicle that is deployed to perform tasks within the shared environment. ### Claim 2 (depends on 1) The method of claim 1, wherein the at least one imaging sensor comprises at least one of: an optical camera; or a light detection and ranging unit. ### Claim 3 (depends on 1) The method of claim 1, further comprising: determining the position of the uncrewed aerial vehicle when the at least one image is captured. ### Claim 4 (depends on 3) The method of claim 3, wherein the position of the uncrewed aerial vehicle is determined from at least one of: a global positioning system unit of the uncrewed aerial vehicle; or a calculation of a distance to at least one reference point within the shared environment based upon the at least one image. ### Claim 5 (depends on 1) The method of claim 1, wherein the window is identified by applying the at least one image as an input to at least one object detection model. ### Claim 6 (depends on 5) The method of claim 5, wherein the at least one object detection model is trained to detect one or more windows within an image. ### Claim 7 (depends on 6) The method of claim 6, wherein the at least one object detection model is further trained to determine boundaries of the one or more windows within the image. ### Claim 8 (depends on 1) The method of claim 1, wherein the determining the location of the window further comprises determining locations of a plurality of points of a boundary of the window. ### Claim 9 (depends on 8) The method of claim 8, wherein the recording the location of the window in the map comprises providing a set of coordinates defining the boundary of the window. ### Claim 10 (depends on 1) The method of claim 1, wherein a notification is provided to at least one entity associated with the shared environment of a scheduled time of the capturing of the at least one image. ### Claim 11 A method comprising: obtaining, by a processing system of an uncrewed aerial vehicle, a map of a shared environment, the map including a location of at least one window that is defined as a prohibited imaging zone; capturing, by the processing system, at least one image via at least one imaging sensor of the uncrewed aerial vehicle; determining, by the processing system, that the at least one image includes an image portion that correlates to the location of the at least one window; determining, by the processing system based upon the map of the shared environment, that the at least one image includes at least one unexpected condition according to at least one detection model implemented by the processing system, wherein the at least one unexpected condition comprises at least one of: a change to a structure within the shared environment, a dangerous condition within the shared environment, or a presence of an unknown object within the shared environment; altering, by the processing system, the at least one image to exclude the image portion; and providing the at least one image that is altered to exclude the image portion to at least one recipient device, wherein the at least one image that is altered to exclude the image portion further includes a highlighting of the at least one unexpected condition. ### Claim 12 (depends on 11) The method of claim 11, wherein the at least one recipient device comprises an operator device that controls the uncrewed aerial vehicle. ### Claim 13 (depends on 11) The method of claim 11, wherein the at least one recipient device comprises a premises monitoring system. ### Claim 14 (depends on 11) The method of claim 11, wherein the altering the at least one image to exclude the image portion comprises overwriting an original content of the image portion of the at least one image. ### Claim 15 (depends on 11) The method of claim 11, wherein the uncrewed aerial vehicle comprises an autonomous aerial vehicle. ### Claim 16 (depends on 15) The method of claim 15, further comprising: navigating the uncrewed aerial vehicle in the shared environment. ### Claim 17 (depends on 11) The method of claim 11, wherein the at least one unexpected condition is determined to be adjacent to the at least one window. ### Claim 18 A method comprising: obtaining, by a processing system of an uncrewed aerial vehicle, a map of a shared environment, the map including a location of a window that is defined as a prohibited imaging zone, wherein a plurality of uncrewed aerial vehicles including the uncrewed aerial vehicle is deployed to perform tasks within the shared environment, wherein the shared environment comprises at least one of: a residential complex, an educational complex, or a business complex; navigating, by the processing system, the uncrewed aerial vehicle in the shared environment; determining, by the processing system based upon the map, a location of the uncrewed aerial vehicle, and an orientation of at least one imaging sensor of the uncrewed aerial vehicle, that the location of the window is within a field of view of the at least one imaging sensor; and reorienting, by the processing system, the at least one imaging sensor when the location of the window is within the field of view of the at least one imaging sensor. ### Claim 19 (depends on 18) The method of claim 18, wherein the at least one imaging sensor comprises at least one of: an optical camera; or a light detection and ranging unit. ### Claim 20 (depends on 18) The method of claim 18, wherein the uncrewed aerial vehicle comprises an autonomous aerial vehicle.