公开(公告)号：US20210192761A1

公开(公告)日：2021-06-24

申请号：US17173162

申请日：2021-02-10

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： You ZHOU ,  Zhenyu ZHU ,  Shibo WANG

IPC: G06T7/50 ,  G06T7/90 ,  G06K9/46

Abstract: An image depth estimation method includes detecting a weak texture area of a target image, calculating depths of feature points of the weak texture area, performing fitting based on the feature points to obtain a depth plane, and calculating depths of pixel points of the weak texture area based on the depth plane. The depths of feature points of the weak texture area are calculated according to coordinates of the feature points of the weak texture area in the target image and in a reference image, and a camera attitude change of one or more camera devices between capturing the target image and capturing the reference image.

公开(公告)号：US20210118172A1

公开(公告)日：2021-04-22

申请号：US17133423

申请日：2020-12-23

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： You ZHOU ,  Jie LIU ,  Zhenyu ZHU

IPC: G06T7/73 ,  G06K9/62 ,  G06K9/00 ,  G06T7/50 ,  G06T5/00 ,  G06T5/50 ,  H04N5/247 ,  B64C39/02 ,  G05D1/12

Abstract: The present disclosure relates to a target detection method, including: determining a target object in a first image acquired by a first image acquisition device; estimating a position of the target object in a second image acquired by a second image acquisition device; determining whether an object at the second position is the same as the target object; and if yes, recording the second position as a position of the target object in the second image. According to the present disclosure, by estimating the position of the target object in the second image and determining whether the object at the second position is the same as the target object, a relationship between the first image acquisition device and the second image acquisition device can be established, and the second image acquisition device does not need to detect the target object in the second image again.

公开(公告)号：US20200228785A1

公开(公告)日：2020-07-16

申请号：US16832364

申请日：2020-03-27

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Hualiang FENG ,  Jiexi DU ,  Zhenyu ZHU

IPC: H04N13/271 ,  H04N13/128 ,  H04N13/344

Abstract: A disparity map generation method, includes: acquiring a first left-view and a first right-view; generating a first initial disparity map according to the first left-view and the first right-view, by using an SGM acceleration algorithm; generating a second left-view and a second right-view according to the first left-view and the first right-view, that the second left-view and the second right-view are respectively identical to views obtained by rotating the first left-view and the first right-view by 180 degrees, or the second left-view and the second right-view are respectively identical to views obtained by rotating the first right-view and the first left-view by 180 degrees; generating a second initial disparity map according to the second left-view and the second right-view, by using the SGM acceleration algorithm; and determining a target disparity map of the first left-view and the first right-view according to the first initial disparity map and the second initial disparity map.

公开(公告)号：US20200208970A1

公开(公告)日：2020-07-02

申请号：US16817205

申请日：2020-03-12

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Zihan CHEN ,  Zhiyuan ZHANG ,  Weifeng LIU ,  Chaobin CHEN

IPC: G01C3/08 ,  G08G5/04 ,  G06T7/60 ,  G06K9/78 ,  G06K9/62 ,  G06K9/20 ,  G06K9/00 ,  G05D1/00 ,  G06T7/246 ,  G06T7/292 ,  G05D1/10 ,  G01C3/14 ,  G08G5/00 ,  G06T7/593 ,  G06K9/46

Abstract: A method for distance detection includes detecting a first distance value between a movable object and a target object in a target direction of the movable object, obtaining an inclination angle of the movable object at the target direction, and calculating a second distance value from the movable object to the target object based upon the inclination angle and the first distance value.

公开(公告)号：US20200088855A1

公开(公告)日：2020-03-19

申请号：US16694194

申请日：2019-11-25

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Cong ZHAO ,  Ketan TANG

IPC: G01S7/486 ,  G01S17/89 ,  G01S17/02 ,  G01S17/10 ,  G06T3/40 ,  G06T5/50

Abstract: An imaging apparatus includes first and second imaging devices configured to capture first and second images of a scene, respectively. The first and second images include multiple first image blocks relative to a first coordinate system and multiple second image blocks relative to a second coordinate system, respectively. The apparatus further includes a processor configured to calibrate one or more first image blocks and one or more corresponding second image blocks using the first and second coordinate systems, convert each calibrated first image block to an intensity image and a first depth map, convert each calibrated second image block to a grayscale image, and generate a second depth map associated with the second image by enhancing a resolution of the first depth map for each calibrated first image block based on calculating a relationship between the intensity image and the grayscale image for each calibrated first and second image blocks.

公开(公告)号：US20190197710A1

公开(公告)日：2019-06-27

申请号：US16244652

申请日：2019-01-10

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Mingyu WANG ,  Zhenyu ZHU

IPC: G06T7/40 ,  H04N5/232 ,  G06T7/55

CPC classification number: G06T7/40 ,  B64C39/024 ,  B64C2201/123 ,  G06T7/55 ,  G06T2207/10032 ,  G06T2207/30168 ,  G06T2207/30261 ,  H04N5/23296 ,  H04N5/23299

Abstract: Methods and systems for obtaining texture information and environmental information are provided. Texture information and/or environmental information may be obtained from various portions of captured images and may be utilized to improve operability of movable objects, such as unmanned aerial vehicles (UAVs).

公开(公告)号：US20190014303A1

公开(公告)日：2019-01-10

申请号：US16109211

申请日：2018-08-22

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Honghui ZHANG ,  Zhiyuan WU

IPC: H04N13/128 ,  G06T7/593 ,  H04N13/271 ,  H04N13/239

Abstract: A method of distance measuring includes obtaining a depth map and a stereo pair of images of a scene of interest, and enhancing a precision of the depth map based on disparity values of corresponding points between the images. The images have a higher resolution than the depth map. Enhancing the precision of the depth map includes determining the disparity values by optimizing an energy function of the images and replacing low precision values of the depth map with corresponding high precision values based on the disparity values.