公开(公告)号：US20220124303A1

公开(公告)日：2022-04-21

申请号：US17566350

申请日：2021-12-30

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Changchun YE ,  Jiaqi YAN ,  You ZHOU

IPC: H04N13/289 ,  G06T7/579 ,  G06T7/593 ,  G06T7/70 ,  H04N13/239 ,  G01B11/14 ,  G01B11/22 ,  G06T7/20 ,  H04N5/225 ,  H04N5/247 ,  G01C21/20

Abstract: A method for determining a physical state of a movable object includes determining an estimated physical state based on first sensing data obtained by a first sensing system of the movable object, during a time duration in which second sensing data from a second sensing system is unavailable or is not updated; in response to determining that the second sensing data from the second sensing system becomes available or is updated, determining an observed physical state of the movable object based on the second sensing data; and based on a deviation between the observed physical state and the estimated physical state of the movable object, determining whether to update the physical state of the movable object based on the observed physical state. The first and second sensing systems have different sampling frequencies. The deviation is indicative of a validity of the sensing data of the second sensing system.

公开(公告)号：US20240152108A1

公开(公告)日：2024-05-09

申请号：US18544120

申请日：2023-12-18

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： You ZHOU ,  Jie LIU ,  Changchun YE

IPC: G05B19/19 ,  F16M11/12 ,  F16M11/18 ,  G05D3/20

CPC classification number: G05B19/19 ,  F16M11/123 ,  F16M11/18 ,  G05D3/20

Abstract: A gimbal system includes a gimbal configured to support an imaging assembly, one or more processors, and a storage device storing program instructions that, when being executed by the one or more processors, cause the one or more processors to, in response to an image re-shooting instruction, obtain a target angle of the gimbal based on a reference shooting trajectory, adjust an angle of the gimbal to the target angle to allow the imaging assembly to capture a current image frame, and adjust the angle of the gimbal to a desired angle based on the current image frame to allow the imaging assembly to perform image re-shooting.

公开(公告)号：US20190273909A1

公开(公告)日：2019-09-05

申请号：US16410943

申请日：2019-05-13

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Changchun YE ,  Jiaqi YAN ,  You ZHOU

IPC: H04N13/289 ,  G01B11/14 ,  G01B11/22 ,  H04N5/247 ,  G06T7/593 ,  H04N5/225 ,  G06T7/579 ,  G06T7/70 ,  G06T7/20 ,  H04N13/239

Abstract: A method includes obtaining a spatial configuration of a plurality of imaging devices relative to one another and to a movable object. The imaging devices are coupled to the movable object and comprise a first imaging device configured to operate in a multi-ocular mode and a second imaging device configured to operate in a monocular mode. The method further includes determining at least one of a distance of the movable object to an object or surface lying within a field-of-view of at least one of the imaging devices, a disparity between matched points in stereoscopic images acquired by the first imaging device, or an environment in which the plurality of imaging devices are operated. The distance is determined based in part on the spatial configuration. The method also includes selecting either the first imaging device or the second imaging device to acquire image data based on the determination.

公开(公告)号：US20210256732A1

公开(公告)日：2021-08-19

申请号：US17231974

申请日：2021-04-15

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Changchun YE ,  You ZHOU ,  Zhenfei YANG

IPC: G06T7/73 ,  G05D1/08 ,  G05D1/10 ,  B64C39/02 ,  G06T7/593

Abstract: Embodiments of the present disclosure provide an image processing method applied in an unmanned aerial vehicle (UAV), the UAV including an imaging device in two or more directions. The method includes obtaining an image to be processed in each of the two or more directions; determining a first direction in the two or more directions and obtaining a first direction reference value based on the image to be processed in each of the two or more directions, the first direction reference value being used to determine whether to update key reference frames corresponding to the two or more directions respectively; and updating the key reference frames corresponding to the two or more directions respectively if the first direction reference value meets a preset condition.

公开(公告)号：US20210097696A1

公开(公告)日：2021-04-01

申请号：US17120452

申请日：2020-12-14

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Changchun YE ,  You ZHOU ,  Jiaqi YAN

IPC: G06T7/207 ,  G06T7/246 ,  G06T7/13 ,  G06T7/529 ,  G06T7/579

Abstract: A motion estimation method and a mobile device are provided. The method includes: detecting whether a scene in which a mobile device is currently located is a dark scene or a textureless scene; when the scene is a dark scene or a textureless scene, obtaining a first depth map of the scene by using a distance measurement module in the mobile device; determining a vertical distance between the mobile device and the ground at a current moment based on the first depth map; and determining a moving speed of the mobile device from a previous moment to the current moment along a vertical direction based on a vertical distance between the mobile device and the ground at the previous moment and the vertical distance between the mobile device and the ground at the current moment. Therefore, accuracy of motion estimation in a dark or textureless scene can be improved.