公开(公告)号：US11089208B2

公开(公告)日：2021-08-10

申请号：US16718301

申请日：2019-12-18

Applicant: GoPro, Inc.

Inventor： Joseph A. Enke ,  Kielan C. Crow ,  Pascal Gohl

IPC: H04N5/232 ,  G03B17/56 ,  F16M11/12 ,  G08B21/18

Abstract: The disclosure describes systems and methods for a stabilization mechanism. The stabilization mechanism may be used in conjunction with an imaging device. The method may be performed by a control system of the stabilization mechanism and includes obtaining a device setting from an imaging device. The method may also include obtaining a configuration of the stabilization mechanism. The method includes determining a soft stop based on the device setting, the configuration, or both. The soft stop may be a virtual hard stop that indicates to the stabilization mechanism to reduce speed as a field of view of the imaging device approaches the soft stop. The method may also include setting an image stabilization mechanism parameter based on the determined soft stop.

公开(公告)号：US20210067665A1

公开(公告)日：2021-03-04

申请号：US17016784

申请日：2020-09-10

Applicant: GoPro, Inc.

Inventor： Himay Shukla ,  Kielan Crow ,  Pascal Gohl

IPC: H04N5/225 ,  G03B17/56 ,  H04N5/232

Abstract: In one aspect of the present disclosure, a module is disclosed for use with a digital image capturing device (DICD) including an integrated sensor-lens assembly (ISLA). The module includes a cradle configured for connection to a housing of the DICD, and at least one dampener that is configured for positioning between the module and the housing of the DICD to reduce vibrations transmitted to the ISLA.

公开(公告)号：US10666845B2

公开(公告)日：2020-05-26

申请号：US16288427

申请日：2019-02-28

Applicant: GoPro, Inc.

Inventor： Himay Shukla ,  Kielan Crow ,  Pascal Gohl

IPC: H04N5/225 ,  H04N5/232 ,  G03B17/56

Abstract: In one aspect of the present disclosure, a module is disclosed for use with a digital image capturing device (DICD) including an integrated sensor-lens assembly (ISLA). The module includes a cradle configured for connection to a housing of the DICD, and at least one dampener that is configured for positioning between the module and the housing of the DICD to reduce vibrations transmitted to the ISLA.

公开(公告)号：US10536630B2

公开(公告)日：2020-01-14

申请号：US15906726

申请日：2018-02-27

Applicant: GoPro, Inc.

Inventor： Joseph A. Enke ,  Kielan C. Crow ,  Pascal Gohl

IPC: H04N5/232 ,  G08B21/18

Abstract: The disclosure describes systems and methods for a stabilization mechanism. The stabilization mechanism may be used in conjunction with an imaging device. The method may be performed by a control system of the stabilization mechanism and includes obtaining a device setting from an imaging device. The method may also include obtaining a configuration of the stabilization mechanism. The method includes determining a soft stop based on the device setting, the configuration, or both. The soft stop may be a virtual hard stop that indicates to the stabilization mechanism to reduce speed as a field of view of the imaging device approaches the soft stop. The method may also include setting an image stabilization mechanism parameter based on the determined soft stop.

公开(公告)号：US20190227556A1

公开(公告)日：2019-07-25

申请号：US15906738

申请日：2018-02-27

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Pascal Gohl ,  Axel Murguet ,  Garance Bruneau ,  Fabio Diem ,  Lukas Schmid

IPC: G05D1/00 ,  H04N7/18 ,  G06T7/73 ,  G06T7/80 ,  B64C39/02

Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object orientation data.

公开(公告)号：US20180274720A1

公开(公告)日：2018-09-27

申请号：US15919448

申请日：2018-03-13

Applicant: GoPro, Inc.

Inventor： Thomas Gubler ,  Pascal Gohl

IPC: F16M13/02 ,  F16M11/04 ,  F16M11/12 ,  F16M11/18 ,  F16M13/04 ,  G03B17/56 ,  G05D1/00 ,  H04N5/225 ,  H04N5/232 ,  B64C39/02 ,  B64D47/08

Abstract: The disclosure describes systems and methods for calibrating an image stabilization mechanism. One method includes a control system sending a command to thermally condition one or more sensors to a predetermined temperature. During thermal conditioning to the predetermined temperature, the control system sends a command to drive one or more motors of the image stabilization mechanism to cause movement of an imaging device coupled to the image stabilization mechanism. After thermal conditioning to the predetermined temperature, the control system sends a command to stop driving the one or more motors of the image stabilization mechanism to stop movement of the imaging device coupled to the image stabilization mechanism. After stopping the driving of the one or more motors, the control system sends a command to calibrate the one or more sensors.

公开(公告)号：US20180101782A1

公开(公告)日：2018-04-12

申请号：US15287710

申请日：2016-10-06

Applicant: GOPRO, INC.

Inventor： Pascal Gohl ,  Sammy Omari

IPC: G06N7/00 ,  G08G5/00 ,  B64C39/02

CPC classification number: G06N7/005 ,  B64C39/024 ,  G08G5/0013 ,  G08G5/0026 ,  G08G5/0034 ,  G08G5/0069 ,  G08G5/045

Abstract: This disclosure relates to systems and methods for determining predicted risk for a flight path of an unmanned aerial vehicle. A previously stored three-dimensional representation of a user-selected location may be obtained. The three-dimensional representation may be derived from depth maps of the user-selected location generated during previous unmanned aerial vehicle flights. The three-dimensional representation may reflect a presence of objects and object existence accuracies for the individual objects. The object existence accuracies for the individual objects may provide information about accuracy of existence of the individual objects within the user-selected location. A user-created flight path may be obtained for a future unmanned aerial flight within the three-dimensional representation of the user-selected location. Predicted risk may be determined for individual portions of the user-created flight path based upon the three-dimensional representation of the user-selected location.

公开(公告)号：US20230059888A1

公开(公告)日：2023-02-23

申请号：US17982275

申请日：2022-11-07

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Pascal Gohl ,  Joseph A. Enke ,  Stepan Moskovchenko ,  Benjamin P. Tankersley

IPC: H04N5/232 ,  G03B17/56

Abstract: Systems and methods are disclosed for image signal processing. For example, methods may include, based on a sequence of orientation estimates for an image sensor and an orientation setpoint, invoking a mechanical stabilization system to adjust an orientation of the image sensor toward the orientation setpoint; receiving an image from the image sensor; determining an orientation error between the orientation of the image sensor and the orientation setpoint during capture of the image; and, based on the orientation error, invoking an electronic image stabilization module to correct the image for a rotation corresponding to the orientation error to obtain a stabilized image.

公开(公告)号：US20220392359A1

公开(公告)日：2022-12-08

申请号：US17880970

申请日：2022-08-04

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Pascal Gohl ,  Andreas Jäger ,  Joseph A. Enke ,  Simon Doessegger ,  Tim Oberhauser

IPC: G08G5/04 ,  G05D1/02 ,  G06T7/579 ,  G08G5/00 ,  G06V20/13

Abstract: Controlling an unmanned aerial vehicle to traverse a portion of an operational environment of the unmanned aerial vehicle may include obtaining an object detection type, obtaining object detection input data, obtaining relative object orientation data based on the object detection type and the object detection input data, and performing an object avoidance operation based on the relative object orientation data. The object detection type may be monocular object detection, which may include obtaining the relative object orientation data by obtaining motion data indicating a change of spatial location for the unmanned aerial vehicle between obtaining the first image and obtaining the second image based on searching along epipolar lines to obtain optical flow data.

公开(公告)号：US20220335844A1

公开(公告)日：2022-10-20

申请号：US17858873

申请日：2022-07-06

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Sammy Omari

IPC: G08G5/04 ,  G06T5/00 ,  G06K9/62 ,  G06T7/20 ,  G06T7/00 ,  G06T7/60 ,  B64C39/02 ,  B64D47/08 ,  G08G5/00 ,  H04N13/128 ,  G06T7/73 ,  G06V10/42 ,  G06V30/194

Abstract: This disclosure relates to systems and methods for vehicle guidance. Stereo images may be obtained at different times using a stereo image sensor. A depth image may be determined based on an earlier obtained pair of stereo images. The depth image may be refined based on predictions of an earlier stereo image and a later obtained stereo image. Depth information for an environment around a vehicle may be obtained. The depth information may characterize distances between the vehicle and the environment around the vehicle. A spherical depth map may be generated from the depth information. Maneuver controls for the vehicle may be provided based on the spherical depth map.