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公开(公告)号：US12039877B2
公开(公告)日：2024-07-16
申请号：US17880970
申请日：2022-08-04
Applicant: GoPro, Inc.
Inventor： Sammy Omari , Pascal Gohl , Andreas Jäger , Joseph A. Enke , Simon Doessegger , Tim Oberhauser
CPC classification number: G08G5/045 , G05D1/0202 , G06T7/579 , G06V20/13 , G06V20/17 , G08G5/0069 , G06T2207/10032
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.
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公开(公告)号：US11423791B2
公开(公告)日：2022-08-23
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
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.
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公开(公告)号：US20190227556A1
公开(公告)日：2019-07-25
申请号：US15906738
申请日：2018-02-27
Applicant: GoPro, Inc.
Inventor： Sammy Omari , Pascal Gohl , Axel Murguet , Garance Bruneau , Fabio Diem , Lukas Schmid
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.
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公开(公告)号：US20180105285A1
公开(公告)日：2018-04-19
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
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.
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5.发明申请公开(公告)号：US20180101782A1
公开(公告)日：2018-04-12
申请号：US15287710
申请日：2016-10-06
Applicant: GOPRO, INC.
Inventor： Pascal Gohl , Sammy Omari
CPC classification number: G06N7/005 , B64C39/024 , G08G5/0013 , G08G5/0026 , G08G5/0034 , G08G5/0069 , G08G5/045
Abstract: This disclosure relates to systems and methods for determining predicted risk for a flight path of an unmanned aerial vehicle. A previously stored three-dimensional representation of a user-selected location may be obtained. The three-dimensional representation may be derived from depth maps of the user-selected location generated during previous unmanned aerial vehicle flights. The three-dimensional representation may reflect a presence of objects and object existence accuracies for the individual objects. The object existence accuracies for the individual objects may provide information about accuracy of existence of the individual objects within the user-selected location. A user-created flight path may be obtained for a future unmanned aerial flight within the three-dimensional representation of the user-selected location. Predicted risk may be determined for individual portions of the user-created flight path based upon the three-dimensional representation of the user-selected location.
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Patent Agency Ranking
公开(公告)号：US20230059888A1
公开(公告)日：2023-02-23
申请号：US17982275
申请日：2022-11-07
Applicant: GoPro, Inc.
Inventor： Sammy Omari , Pascal Gohl , Joseph A. Enke , Stepan Moskovchenko , Benjamin P. Tankersley
Abstract: Systems and methods are disclosed for image signal processing. For example, methods may include, based on a sequence of orientation estimates for an image sensor and an orientation setpoint, invoking a mechanical stabilization system to adjust an orientation of the image sensor toward the orientation setpoint; receiving an image from the image sensor; determining an orientation error between the orientation of the image sensor and the orientation setpoint during capture of the image; and, based on the orientation error, invoking an electronic image stabilization module to correct the image for a rotation corresponding to the orientation error to obtain a stabilized image.
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公开(公告)号：US20220392359A1
公开(公告)日：2022-12-08
申请号：US17880970
申请日：2022-08-04
Applicant: GoPro, Inc.
Inventor： Sammy Omari , Pascal Gohl , Andreas Jäger , Joseph A. Enke , Simon Doessegger , Tim Oberhauser
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.
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公开(公告)号：US20220335844A1
公开(公告)日：2022-10-20
申请号：US17858873
申请日：2022-07-06
Applicant: GoPro, Inc.
Inventor： Pascal Gohl , Sammy Omari
IPC: G08G5/04 , G06T5/00 , G06K9/62 , G06T7/20 , G06T7/00 , G06T7/60 , B64C39/02 , B64D47/08 , G08G5/00 , H04N13/128 , G06T7/73 , G06V10/42 , G06V30/194
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.
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9.发明申请公开(公告)号：US20220027772A1
公开(公告)日：2022-01-27
申请号：US17400091
申请日：2021-08-11
Applicant: GoPro, Inc.
Inventor： Pascal Gohl , Sammy Omari
Abstract: This disclosure relates to systems and methods for determining predicted risk for a flight path of an unmanned aerial vehicle. A previously stored three-dimensional representation of a user-selected location may be obtained. The three-dimensional representation may be derived from depth maps of the user-selected location generated during previous unmanned aerial vehicle flights. The three-dimensional representation may reflect a presence of objects and object existence accuracies for the individual objects. The object existence accuracies for the individual objects may provide information about accuracy of existence of the individual objects within the user-selected location. A user-created flight path may be obtained for a future unmanned aerial flight within the three-dimensional representation of the user-selected location. Predicted risk may be determined for individual portions of the user-created flight path based upon the three-dimensional representation of the user-selected location.
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公开(公告)号：US20190182424A1
公开(公告)日：2019-06-13
申请号：US15837263
申请日：2017-12-11
Applicant: GoPro, Inc.
Inventor： Sammy Omari , Pascal Gohl , Joseph A. Enke , Stepan Moskovchenko , Benjamin P. Tankersley
IPC: H04N5/232
Abstract: Systems and methods are disclosed for image signal processing. For example, methods may include determining an orientation setpoint for an image sensor; based on a sequence of orientation estimates for the image sensor and the orientation setpoint, invoking a mechanical stabilization system to adjust an orientation of the image sensor toward the orientation setpoint; receiving an image from the image sensor; determining an orientation error between the orientation of the image sensor and the orientation setpoint during capture of the image; based on the orientation error, invoking an electronic image stabilization module to correct the image for a rotation corresponding to the orientation error to obtain a stabilized image; and storing, displaying, or transmitting an output image based on the stabilized image.
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