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：US20200063913A1

公开(公告)日：2020-02-27

申请号：US16673316

申请日：2019-11-04

Applicant: GoPro, Inc.

Inventor： Thomas Gubler ,  Pascal Gohl

IPC: F16M13/02 ,  F16M11/04 ,  F16M11/12 ,  F16M11/18 ,  F16M13/04 ,  B64D47/08 ,  G05D1/00 ,  H04N5/225 ,  H04N5/232 ,  B64C39/02 ,  G03B17/56 ,  H04N17/00

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：US20190364212A1

公开(公告)日：2019-11-28

申请号：US16438791

申请日：2019-06-12

Applicant: GoPro, Inc.

Inventor： Thomas Gubler ,  Garance Bruneau ,  Axel Murguet ,  Pascal Gohl

IPC: H04N5/232 ,  B64C39/02 ,  G03B15/00 ,  G01C21/18 ,  G03B17/56 ,  B64D47/08

Abstract: An aerial vehicle platform includes an aerial vehicle, a gimbal coupled to the aerial vehicle, and a camera mounted to the gimbal. An attitude sensing system includes an inertial measurement unit to sense attitude and an attitude adjustment module to generate an attitude adjustment for adjusting the sensed attitude to compensate for drift error.

公开(公告)号：US10362228B2

公开(公告)日：2019-07-23

申请号：US15788769

申请日：2017-10-19

Applicant: GoPro, Inc.

Inventor： Thomas Gubler ,  Garance Bruneau ,  Axel Murguet ,  Pascal Gohl

IPC: H04N5/232 ,  B64C39/02 ,  B64D47/08 ,  G01C21/18 ,  G03B15/00 ,  G03B17/56

Abstract: An aerial vehicle platform includes an aerial vehicle, a gimbal coupled to the aerial vehicle, and a camera mounted to the gimbal. An attitude sensing system includes an inertial measurement unit to sense attitude and an attitude adjustment module to generate an attitude adjustment for adjusting the sensed attitude to compensate for drift error.

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.

公开(公告)号：US20240428698A1

公开(公告)日：2024-12-26

申请号：US18601096

申请日：2024-03-11

Applicant: GoPro, Inc.

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

IPC: G08G5/04 ,  G05D1/46 ,  G06T7/579 ,  G06V20/13 ,  G06V20/17 ,  G08G5/00

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.