公开(公告)号：US20180204331A1

公开(公告)日：2018-07-19

申请号：US15918694

申请日：2018-03-12

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Joseph A. Enke

IPC: G06T7/246 ,  B64C39/02 ,  B64D47/08

CPC classification number: G06T7/248 ,  B64C39/024 ,  B64C2201/127 ,  B64C2201/145 ,  B64D47/08 ,  G01C21/16 ,  G01S13/76 ,  G01S13/878 ,  G06K9/0063 ,  H04N5/23299

Abstract: A method is provided for controlling a movable imaging assembly having a movable platform and an imaging device coupled to and movable relative to the movable platform. The method includes receiving user inputs that define an MIA position relative to a target and a frame position of the target within image frames captured by the imaging device. The user inputs include a horizontal distance, a circumferential position, and a horizontal distance that define the MIA position, and include a horizontal frame position and a vertical frame position that define the frame position. The method further includes predicting a future position of the target for a future time, and moving the MIA to be in the MIA position at the future time and moving the imaging device for the target to be in the frame position for an image frame captured at the future time.

公开(公告)号：US09963243B1

公开(公告)日：2018-05-08

申请号：US15297903

申请日：2016-10-19

Applicant: GoPro, Inc.

Inventor： Lukas Schmid ,  Jean-Bernard Berteaux ,  Fabio Diem ,  Sammy Omari ,  Thomas Gubler

IPC: B64D45/00 ,  B64C39/02 ,  G05D1/00

CPC classification number: B64D45/00 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/042 ,  B64C2201/123 ,  B64C2201/146 ,  G05D1/0038

Abstract: The disclosure describes systems and methods for detecting an aerial vehicle landing. One method includes performing at least two of a plurality of landing tests to detect the landing of the aerial vehicle. The plurality of landing tests include a static test, a thrust test, and a shock test. Upon a detection of the landing by one of the at least two landing tests performed, the method further includes performing a free-fall test to detect a free fall of the aerial vehicle. The free fall of the aerial vehicle is a change in altitude of the aerial vehicle above an altitude change threshold. Upon a lack of a detection of the free fall by the free-fall test, the method includes setting a landed state for the aerial vehicle. Upon a detection of the free fall by the free-fall test, the method includes setting an in-air state for the aerial vehicle.

公开(公告)号：US20180025498A1

公开(公告)日：2018-01-25

申请号：US15656559

申请日：2017-07-21

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Joseph A. Enke

IPC: G06T7/246 ,  B64D47/08 ,  G06K9/78 ,  B64C39/02 ,  G06K9/00 ,  G06T7/73

CPC classification number: G06T7/248 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/146 ,  B64D47/08 ,  G01C19/00 ,  G01C21/165 ,  G06K9/0063 ,  G06K9/00711 ,  G06K9/00771 ,  G06K9/78 ,  G06T7/74 ,  G06T2207/10032 ,  G06T2207/30196 ,  G06T2207/30232

Abstract: A method for tracking a subject in successive image frames includes obtaining previous image frames with an imaging device, processing the previous image frames, obtaining motion information of the imaging device and a subject, determining a region of interest, obtaining a subsequent image frame, and processing the region of interest. The processing includes determining previous frame positions of the subject therein. The motion information is obtained with sensors physically associated with one o more of the imaging device and the subject. The region of interest is located in a predetermined spatial relationship relative to a predicted frame position of the subject.

公开(公告)号：US12078991B2

公开(公告)日：2024-09-03

申请号：US17354326

申请日：2021-06-22

Applicant: GoPro, Inc.

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

IPC: G05D1/00 ,  B64C39/02 ,  B64U30/20 ,  G06T7/73 ,  G06T7/80 ,  H04N7/18 ,  B64U10/14 ,  B64U20/87 ,  B64U101/30

CPC classification number: G05D1/0094 ,  G05D1/0022 ,  G05D1/0038 ,  G06T7/74 ,  G06T7/80 ,  H04N7/185 ,  B64U10/14 ,  B64U20/87 ,  B64U2101/30 ,  B64U2201/10 ,  B64U2201/20 ,  G06T2207/10032 ,  G06T2207/30244

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：US20210027641A1

公开(公告)日：2021-01-28

申请号：US16985506

申请日：2020-08-05

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Sammy Omari

IPC: G08G5/04 ,  G06T5/00 ,  G06K9/62 ,  G06T7/20 ,  G06K9/66 ,  G06T7/00 ,  G06K9/52 ,  G06T7/60 ,  B64C39/02 ,  B64D47/08 ,  G08G5/00 ,  H04N13/128 ,  G06T7/73

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.

公开(公告)号：US10769957B2

公开(公告)日：2020-09-08

申请号：US16360097

申请日：2019-03-21

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Sammy Omari

IPC: G06T7/20 ,  G08G5/04 ,  G06T5/00 ,  G06K9/62 ,  G06K9/66 ,  G06T7/00 ,  G06K9/52 ,  G06T7/60 ,  B64C39/02 ,  B64D47/08 ,  G08G5/00 ,  H04N13/128 ,  G06T7/73 ,  H04N13/00

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.

公开(公告)号：US20190213896A1

公开(公告)日：2019-07-11

申请号：US16360097

申请日：2019-03-21

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Sammy Omari

IPC: G08G5/04 ,  B64C39/02 ,  G06T5/00 ,  G06K9/62 ,  G06T7/20 ,  G06K9/66 ,  G08G5/00 ,  B64D47/08 ,  H04N13/128 ,  G06T7/60 ,  G06K9/52 ,  G06T7/00

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.

公开(公告)号：US20190213895A1

公开(公告)日：2019-07-11

申请号：US15906720

申请日：2018-02-27

Applicant: GoPro, Inc.

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

IPC: G08G5/04 ,  G05D1/02 ,  G08G5/00 ,  G06K9/00 ,  G06T7/579

CPC classification number: G08G5/045 ,  G05D1/0202 ,  G06K9/0063 ,  G06T7/579 ,  G06T2207/10032 ,  G08G5/0069

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 a collision 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：US20180150718A1

公开(公告)日：2018-05-31

申请号：US15364990

申请日：2016-11-30

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Pascal Gohl

IPC: G06K9/46 ,  G06K9/00 ,  G05D1/00 ,  B64D47/08 ,  B64C39/02 ,  G01C21/00

CPC classification number: G06K9/4671 ,  B64C39/024 ,  B64C2201/146 ,  B64D47/08 ,  G01C21/00 ,  G01C21/005 ,  G05D1/0016 ,  G05D1/0044 ,  G05D1/0094 ,  G05D1/101 ,  G06K9/0063

Abstract: This disclosure describes systems and methods for vision-based navigation of an aerial vehicle. A method includes operations of acquiring a first image, and identifying features in a first image pyramid of the first image. The method includes acquiring a second image after the first image, and identifying the features in a second image pyramid of the second image. The method includes determining current navigation information of the aerial vehicle according to changes in position of the respective features between the first image pyramid and the second image pyramid. The method also includes predicting whether a sufficient number of the features will be identifiable at a third time that is in the future and after the second image was taken, and limiting flight as compared to the user flight instructions if an insufficient number of the features are predicted to be identifiable.

公开(公告)号：US09896205B1

公开(公告)日：2018-02-20

申请号：US14949798

申请日：2015-11-23

Applicant: GOPRO, INC.

Inventor： Pascal Gohl ,  Sammy Omari

IPC: B64C19/00 ,  G01C3/00 ,  G06T7/00 ,  H04N5/00 ,  B64C39/02 ,  G01C3/08 ,  H04N5/247 ,  H04N5/225

CPC classification number: B64C39/024 ,  B64C19/00 ,  B64C2201/14 ,  G01C3/085 ,  G06T7/0018 ,  G06T7/0065 ,  G06T7/80 ,  G06T2207/10032 ,  H04N5/2252 ,  H04N5/2258 ,  H04N5/247

Abstract: This disclosure relates to unmanned aerial vehicles with parallax disparity detection offset from horizontal. The unmanned aerial vehicles use two optical elements, which are arranged to be separated by a horizontal distance and a vertical distance when the unmanned aerial vehicles operate leveled with respect to ground, to determine parallax disparity of an object.