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公开(公告)号：US20220057813A1
公开(公告)日：2022-02-24
申请号：US17516277
申请日：2021-11-01
发明人： Xingyu ZHANG , Ketan TANG , Cong ZHAO
摘要： An unmanned aerial vehicle (UAV) includes a vehicle body, one or more propulsion units coupled to the vehicle body and configured to effect movement of the UAV, and one or more processors coupled to the one or more propulsion units and individually or collectively configured to receive one or more sets of altitude restrictions for the UAV, receive location information indicating a current location of the UAV, determine a priority of the one or more sets of altitude restrictions by which the UAV abides based on the location information, select a set from the one or more sets of altitude restrictions based on the determined priority, and generate control signals to control the one or more propulsion units such that the UAV is operated in compliance with the selected set of altitude restrictions.
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公开(公告)号：US20210256723A1
公开(公告)日：2021-08-19
申请号：US17173051
申请日：2021-02-10
发明人： Cong ZHAO , Shaojie SHEN , Jie QIAN , Xuyang FENG , Minjian PANG , Junfeng YU
摘要： A method for controlling a movable object includes obtaining current location information of an obstacle while the movable object tracks a target, determining whether the obstacle is located in a reactive region relative to the movable object based on the current location information of the obstacle, and, in response to determining that the obstacle is not located in the reactive region, selecting an optimized set of candidate movement characteristics having an optimized route optimization score from multiple sets of candidate movement characteristics, and adjusting one or more movement characteristics of the movable object based on the optimized set of candidate movement characteristics such that a distance between the movable object and the obstacle is maintained at or beyond a predefined distance. Each set of candidate movement characteristics among the multiple sets of candidate movement characteristics corresponds to a route optimization score.
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公开(公告)号：US20210116943A1
公开(公告)日：2021-04-22
申请号：US16991739
申请日：2020-08-12
发明人： Mingyu WANG , Tao ZHAO , Yun YU , Guyue ZHOU , Ketan TANG , Cong ZHAO , Ang LIU , You ZHOU , Minjian PANG , Xiao HU , Litian ZHANG
IPC分类号： G05D1/10 , G01S3/786 , G06K9/00 , G06T7/246 , H04N5/232 , G06T7/70 , B64C39/02 , G05D1/00 , G05D1/12 , G06T7/20
摘要： A method for controlling an unmanned aerial vehicle (UAV) includes receiving, by a processor of the UAV, a plurality of images captured by an imaging device coupled to the UAV, identifying, by the processor, a target in at least one image of the plurality of images, determining, by the processor, whether the target is a stationary target or a moving target based on analyzing the plurality of images, and automatically effecting, by the processor, movement of the UAV based on determining the target is the stationary target or the moving target.
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公开(公告)号：US20210011478A1
公开(公告)日：2021-01-14
申请号：US17035300
申请日：2020-09-28
发明人： Xuyang FENG , Cong ZHAO , Jie QIAN , Junfeng YU
摘要： 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. In response to the target object being the predetermined recognizable object type, tracking functions associated with the predetermined recognizable object type are initiated. In response to the target object not belonging 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：US20200088855A1
公开(公告)日：2020-03-19
申请号：US16694194
申请日：2019-11-25
发明人： Zhenyu ZHU , Cong ZHAO , Ketan TANG
摘要： 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.
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公开(公告)号：US20190212751A1
公开(公告)日：2019-07-11
申请号：US16354775
申请日：2019-03-15
发明人： You ZHOU , Ketan TANG , Cong ZHAO , Jiaqi YAN , Jiexi DU
CPC分类号： G05D1/0246 , B64C39/024 , B64C2201/027 , B64C2201/127 , B64C2201/146 , G05D1/106 , G06K9/00637 , G06K9/00664 , G06K9/00805 , G06T7/20 , G06T7/215 , G06T7/269 , G06T7/70 , G06T7/73 , G06T2207/10016 , G06T2207/30261
摘要： A method for operating a movable object includes acquiring a plurality of image frames captured within a predefined time window by an imaging device borne by the movable object moving along a navigation path, identifying one or more objects adjacent the movable object by measuring pixel movements within the plurality of image frames, estimating movements of the one or more objects relative to the movable object using dimensional variations of the one or more objects within the plurality of image frames, and adjusting the navigation path of the movable object in accordance with the estimated movements of the one or more objects.
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公开(公告)号：US20190187297A1
公开(公告)日：2019-06-20
申请号：US16280648
申请日：2019-02-20
发明人： Peiliang LI , Jie QIAN , Cong ZHAO , Xuyang FENG
IPC分类号： G01S19/49
CPC分类号： G01S19/49 , G01C21/165 , G01C22/006
摘要： A method for locating a moving object includes obtaining an approximate displacement of the moving object between a first time point and a second time point based on location measurements of the moving object at the first time point and the second time point, processing inertial measurements of the moving object at a plurality of interval time points between the first time point and the second time point to acquire movement characteristics of the moving object between the first time point and the second time point, and determining an estimated displacement of the moving object at one of the interval time points between the first time point and the second time point based on the acquired movement characteristics of the moving object and the approximate displacement of the moving object between the first time point and the second time point.
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公开(公告)号：US20190180077A1
公开(公告)日：2019-06-13
申请号：US16266773
申请日：2019-02-04
发明人： You ZHOU , Cong ZHAO , Ketan TANG , Jiaqi YAN
IPC分类号： G06K9/00 , B64C39/02 , G01S5/02 , G06K9/62 , B64D47/08 , H04N5/232 , H04N5/33 , G06K9/46 , G06T7/246 , G06T7/215
摘要： A method for supporting visual tracking includes receiving a plurality of image frames captured at different times using an imaging device. Each of the plurality of image frames includes a plurality of pixels associated with a plurality of feature points. The method further includes analyzing the plurality of image frames to compute movement characteristics of the plurality of feature points and identifying a tracking feature relative to a background feature based on the movement characteristics of the plurality of feature points.
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公开(公告)号：US20190098217A1
公开(公告)日：2019-03-28
申请号：US16184557
申请日：2018-11-08
发明人： You ZHOU , Cong ZHAO , Jie QIAN , Peiliang LI
CPC分类号： H04N5/23267 , H04N5/23258 , H04N5/2329 , H04N5/3532
摘要： An image processing method includes obtaining an image frame through an imaging device over a period of time. The image frame includes a plurality of groups of pixels that are exposed to light at different time points within the period of time. The method further includes obtaining attitude information of the imaging device during the period of time, deriving positional state of an individual group of pixels in the plurality of groups of pixels based on the attitude information of the imaging device, and processing the image frame using the positional state.
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公开(公告)号：US20190096069A1
公开(公告)日：2019-03-28
申请号：US16111722
申请日：2018-08-24
发明人： Jie QIAN , Cong ZHAO , Xuyang FENG
摘要： A method for controlling a movable object to track a target object includes determining a change in one or more features between a first image frame and a second image frame, and adjusting a movement of the movable object based on the change in the one or more features between the first image frame and the second image frame. The one or more features are associated with the target object, and the first image frame and the second image frame are captured at different points in time using an imaging device on the movable object.
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