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公开(公告)号：US20190034693A1
公开(公告)日：2019-01-31
申请号：US16072374
申请日：2016-03-01
发明人： Bo ZANG , Cong ZHAO , Xuyang FENG
摘要： A method, system, article of manufacture, and UAV configured to identify a target object shown in an image, such as shown in a perspective view that is a two-dimensional image or frame of video. The method comprises: identifying and track the position of a target object shown in a sequence of images or video, even when the target object may be traveling at high speeds, detecting the target object within an image based on one or more of the object's physical characteristics, such as its color, shape, size, chrominance, luminance, brightness, lightness, darkness, and/or other characteristics. Thus, in this context a target object may be anything having one or more detectable physical characteristics. The method also providing an improved and more intuitive user interface that enables a user to select a target object for tracking. As a result, the method and system improve the accuracy, usability, and robustness of the system.
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公开(公告)号：US20190011922A1
公开(公告)日：2019-01-10
申请号：US16116169
申请日：2018-08-29
发明人： Xuyang FENG , Cong ZHAO , Jie QIAN , Junfeng YU
CPC分类号： G05D1/0094 , B64C39/024 , B64C2201/123 , B64C2201/127 , B64C2201/141 , B64C2201/146 , G05D1/0038 , G05D1/101 , G05D1/12 , G06K9/0063 , G06K9/2081 , G06K9/6202
摘要： A method includes obtaining an image frame captured by an imaging device carried by an unmanned vehicle and containing the target object, extracting one or more features of a target object from a region selected by a user on the image frame, and determining whether the target object is a predetermined recognizable object type based on a comparison of the one or more features with one or more characteristics associated with the predetermined recognizable object type. If the target object is the predetermined recognizable object type, tracking functions associated with the predetermined recognizable object type are initiated. IF the target object does not belong to the predetermined recognizable object type, tracking functions associated with a general object type are initiated.
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公开(公告)号：US20180365839A1
公开(公告)日：2018-12-20
申请号：US16061896
申请日：2016-09-27
发明人： Xuyang FENG , Cong ZHAO , Zhe YANG
摘要： The disclosed embodiments include methods, apparatuses, systems, and UAVs configured to an interactive and automatic initialization of the tracking systems. The disclosed embodiments observe an object of interest in a surrounding of the movable object and detect a feature of the object of interest, which acts as a trigger for automatically initializing the tracking system. As a result, the disclosed embodiments may provide efficiency and reliability to initializing a robotic system.
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公开(公告)号：US20170339396A1
公开(公告)日：2017-11-23
申请号：US15669138
申请日：2017-08-04
发明人： Honghui ZHANG , Cong ZHAO
CPC分类号： H04N13/246 , B64C39/024 , B64C2201/123 , B64D47/08 , G03B35/10 , G06K9/6215 , G06T7/593 , G06T7/73 , G06T2200/21 , G06T2207/10012 , G06T2207/10024 , G06T2207/30244 , H04N13/111 , H04N13/128 , H04N13/204 , H04N2013/0081 , H04N2213/001
摘要： An apparatus for performing simultaneous localization and mapping (SLAM) with an imaging device having at least two lenses includes an Inertial Measurement Unit (IMU) configured to measure rotations of a second stereoscopic frame acquired at a second time point in related to a first stereoscopic frame at a first time point, and a controller configured to acquire the first stereoscopic frame and the second stereoscopic frame, acquire rotation data of the second stereoscopic frame from said IMU, and match said first and second stereoscopic frames by combining the rotation data with the first and second stereoscopic frames. Said first stereoscopic frame overlaps with said second stereoscopic frame by a predetermined percentage.
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公开(公告)号：US20170251193A1
公开(公告)日：2017-08-31
申请号：US15596197
申请日：2017-05-16
发明人： Guyue ZHOU , Ketan TANG , Xingyu ZHANG , Cong ZHAO
CPC分类号： H04N13/128 , B64C39/024 , B64C2201/123 , G01C3/08 , G01C11/06 , G01S11/12 , G06T7/593 , G06T2207/10012 , G06T2207/10032 , H04N13/239 , H04N13/246 , H04N13/296 , H04N2013/0081 , H04N2213/001
摘要： A system for automatically adjusting a baseline of an imaging system for stereoscopic imaging and methods for making and using same. The imaging system includes a plurality of imaging devices that cooperate via a baseline adjustment mechanism. The imaging devices can acquire images of an object of interest and ascertain an object distance between the stereoscopic imaging system and the object of interest using triangulation. Based on the object distance, the baseline adjustment mechanism automatically adjusts a baseline between any pair of imaging devices. The baseline can be reduced when the object of interest is proximate to the imaging system and can be increased when the object of interest is distal. Once the baseline has been adjusted, one or more extrinsic parameters of the imaging devices are calibrated using a two-step optimization method. The imaging system is suitable for use aboard a mobile platform such as an unmanned aerial vehicle.
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公开(公告)号：US20220122279A1
公开(公告)日：2022-04-21
申请号：US17646031
申请日：2021-12-27
发明人： Xuyang FENG , Cong ZHAO , Junfeng YU , Jie QIAN
摘要： An imaging method includes determining a target position in an imaging frame of an image capturing mechanism connected with a positioning mechanism; detecting a human face from a scene captured by the imaging capturing mechanism; determining a current position of the detected human face in the imaging frame; calculating a positional relationship between the current position and the target position; calculating motion parameters of the positioning mechanism according to the positional relationship; and outputting a control instruction to move the positioning mechanism to move the image capturing mechanism according to the motion parameters so as to position a facial feature of the detected human face at the target position.
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公开(公告)号：US20210350111A1
公开(公告)日：2021-11-11
申请号：US17182188
申请日：2021-02-22
发明人： Ketan TANG , Honghui ZHANG , Cong ZHAO
摘要： A method for controlling a movable object includes receiving, at one or more processors, a plurality of images from a plurality of imaging devices carried by the movable object; determining, with aid of the one or more processors, an environment type of an environment surrounding the movable object; identifying a target based on the plurality of images and the environment type; determining information of the target based on the plurality of images; and controlling the movable object to avoid the target based on the information of the target. The plurality of imaging devices includes a first imaging device arranged at an upper surface of a body of the movable object and a second imaging device arranged at a lower surface of the body. Each of the first imaging device and the second imaging device has a field of view greater than 150 degrees.
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公开(公告)号：US20210134001A1
公开(公告)日：2021-05-06
申请号：US17150195
申请日：2021-01-15
发明人： Cong ZHAO , Xuyang FENG , Jie QIAN , Sijin LI
摘要： An imagery method includes obtaining a plurality of images of an object and selecting one or more images related to a moment from the plurality of images based on a selection rule. The plurality of images are captured by one or more imaging devices within a period of time while the object is being tracked. A plurality of triggers each are configured to trigger at least one of a starting time or a stopping time of the period of time for capturing the plurality of images. The plurality of triggers include a detection based on motion/state estimation of the object.
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公开(公告)号：US20200349704A1
公开(公告)日：2020-11-05
申请号：US16935709
申请日：2020-07-22
摘要： A control method for a mobile platform includes obtaining a captured image, identifying one or more candidate first characteristic parts from the captured image, determining a second characteristic part of a target object in the captured image, determining one or more matching parameters each corresponding to one of the one or more candidate first characteristic parts based on the one or more candidate first characteristic parts and the second characteristic part, determining a target first characteristic part of the target object from the one or more candidate first characteristic parts based on the one or more matching parameters, and switching from tracking the second characteristic part to tracking the target first characteristic part in response to a tracking parameter of the target object meeting a preset tracking condition.
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公开(公告)号：US20200267309A1
公开(公告)日：2020-08-20
申请号：US16867174
申请日：2020-05-05
发明人： Xuyang FENG , Cong ZHAO , Jie QIAN
摘要： The present disclosure provides a focusing method for an electronic device having a camera. The focusing method includes while capturing a target scene, determining a change in a relative position between the electronic device and the target scene. The relative position includes a distance between the electronic device and the target scene and/or an orientation of the target scene with respect to the electronic device. The focusing method further includes determining a focusing scheme according to the change in the relative position between the electronic device and the target scene; and focusing on an object to be tracked and photographed according to the determined focusing scheme. The object to be tracked and photographed is a part of the target scene.
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