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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
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Bo ZANG , Cong ZHAO , Xuyang FENG
Abstract: 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
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Xuyang FENG , Cong ZHAO , Jie QIAN , Junfeng YU
CPC classification number: G05D1/0094 , B64C39/024 , B64C2201/123 , B64C2201/127 , B64C2201/141 , B64C2201/146 , G05D1/0038 , G05D1/101 , G05D1/12 , G06K9/0063 , G06K9/2081 , G06K9/6202
Abstract: 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
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Xuyang FENG , Cong ZHAO , Zhe YANG
Abstract: 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
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Honghui ZHANG , Cong ZHAO
CPC classification number: 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
Abstract: 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
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Guyue ZHOU , Ketan TANG , Xingyu ZHANG , Cong ZHAO
CPC classification number: 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
Abstract: 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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Patent Agency Ranking
公开(公告)号：US20230188825A1
公开(公告)日：2023-06-15
申请号：US18164811
申请日：2023-02-06
Applicant: SZ DJI TECHNOLOGY CO., LTD.
CPC classification number: H04N23/61 , G06T7/70 , G06V10/40 , H04N23/60 , H04N23/68 , H04N23/69 , H04N23/635
Abstract: A method includes: determining a target object in a photographed image to track the target object; determining, based on shooting information of a photographing device carried by a movable object, a location of the target object to continuously record the location of the target object; and in response to a disappearance of the target object in the photographed image, controlling, according to the recorded location of the target object prior to the disappearance of the target object, an attitude of the photographing device such that the photographing device continues to photograph in a direction from the photographing device to the location of the target object.
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公开(公告)号：US20220091618A1
公开(公告)日：2022-03-24
申请号：US17457810
申请日：2021-12-06
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Peiliang LI , Xuyang FENG , Cong ZHAO , Jie QIAN , You ZHOU
Abstract: A computer-implemented method for controlling an unmanned aerial vehicle (UAV) includes identifying a set of target markers based on a plurality of images captured by an imaging device carried by the UAV. The set of target markers includes at least two or more types of target markers that are in close proximity to be detected within a same field of view of the imaging device. The method further includes determining a spatial relationship between the UAV and the set of target markers based at least in part on the plurality of images, and controlling the UAV to approach the set of target markers based at least in part on the spatial relationship while controlling the imaging device to track the set of target markers such that the set of target markers remains within the same field of view of the imaging device.
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公开(公告)号：US20220033076A1
公开(公告)日：2022-02-03
申请号：US17503555
申请日：2021-10-18
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Peiliang LI , Cong ZHAO , Xuyang FENG , Jie QIAN , Qifeng WU
Abstract: A method of tracking a movement of a target by an unmanned aerial vehicle (UAV), the method includes receiving, from a mobile terminal collocating with the target, absolute location coordinate data of the target, acquiring, by a camera of the UAV, image data of the target, determining, based on the absolute location coordinate data and the image data of the target, 3D location coordinate data of the target with respect to the UAV, and controlling, based on the 3D location coordinate data of the target with respect to the UAV, at least one of a direction or a speed of the movement of the UAV, to maintain a constant relative 3D position of the UAV with respect to the target.
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公开(公告)号：US20210329177A1
公开(公告)日：2021-10-21
申请号：US17328823
申请日：2021-05-24
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Cong ZHAO , Yannan WU , Kang YANG , Guyue ZHOU
IPC: H04N5/262 , H04N13/161 , H04N19/597 , H04N13/194 , G01C21/00 , G01P13/00 , H04N7/18
Abstract: A method for sensing an environment in which an unmanned aerial vehicle (UAV) is configured to operate includes, with aid of one or more processors onboard the UAV individually or collectively, obtaining video data of the environment that is collected using a binocular video camera mounted in a forward-looking direction of the UAV, encoding the video data to generate stereoscopic video data, and transmitting the stereoscopic video data to a terminal remote to the movable object.
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公开(公告)号：US20210144296A1
公开(公告)日：2021-05-13
申请号：US17151335
申请日：2021-01-18
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Abstract: A method for an unmanned aerial vehicle (UAV) includes: identifying a target object in a photographed image to track the target object; determining, based on a location of the target object in the photographed image, a location of the UAV, and an altitude of a gimbal of the UAV, a location of the target object to continuously record the location of the target object; and in response to a disappearance of the target object in the photographed image, controlling, according to the recorded location of the target object prior to the disappearance of the target object, the altitude of the gimbal such that a photographing device carried by the UAV through the gimbal continues to photograph in a direction from the photographing device to the location of target object.
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