Patent ID: 11967091
Assignee: WING AVIATION LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 17:
18. An unmanned aerial vehicle (UAV), comprising:
an image sensor for capturing images of a delivery zone; and
a controller coupled to the image sensor and memory, the memory including instructions that when executed by the UAV, cause the UAV to perform operations comprising:
capturing an evaluation image of the delivery zone;
receiving an anchor image of the delivery zone, wherein the anchor image and the evaluation image are representative of the delivery zone at different times;
comparing the anchor image with the evaluation image to determine a degree of similarity between the anchor image and the evaluation image represented by an embedding score associated with the evaluation image, wherein the comparing includes:
determining a first embedding value associated with the anchor image;
segmenting the evaluation image into subimages to determine corresponding embedding values for the subimages, wherein the first embedding value and the corresponding embedding values correspond to respective positions within an embedding space;
determining embedding scores, included in the embedding score, for the subimages based on differences in position between the corresponding embedding values of the subimages and the first embedding value of the anchor image, wherein the differences in position are proportional to degrees of similarity between the anchor image and the subimages of the evaluation image; and

determining whether the environmental change has occurred in one or more regions of the delivery zone represented by the subimages when one or more of the embedding scores are outside of a threshold range.