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公开(公告)号：US20210335015A1
公开(公告)日：2021-10-28
申请号：US17371999
申请日：2021-07-09
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Pu LI , Fu ZHANG , Xiaozhen ZHENG
Abstract: A three-dimensional data point encoding method, decoding method, and encoding device. The encoding method includes: determining maximum values of side lengths of a cuboid of three-dimensional data points to be encoded in three directions according to position coordinates of the three-dimensional data points to be encoded; performing at least one octree partition process on the cuboid, to obtain a plurality of first-type sub-blocks; performing at least one quadtree partition process or binary tree partition process on at least one first-type sub-block of the plurality of first-type sub-blocks; and encoding the three-dimensional data points to be encoded according to partition results of the cuboid.
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2.发明申请公开(公告)号：US20210333401A1
公开(公告)日：2021-10-28
申请号：US17372056
申请日：2021-07-09
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Shuai DONG , Yalin CHEN , Fu ZHANG , Xiaoping HONG
Abstract: The present disclosure provides a distance measuring device. The distance measuring device is configured to detect a target scene to generate point cloud data, the point cloud data including a distance and/or an orientation of a detection object relative to the distance measuring device. An accumulation time of the point cloud data of one or more frames is greater than a time interval between outputting the point cloud data of adjacent frames.
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公开(公告)号：US20210293929A1
公开(公告)日：2021-09-23
申请号：US17339938
申请日：2021-06-04
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Shuai DONG , Chenghui LONG , Xiongze MEI , Xiaoping HONG , Fu ZHANG
Abstract: A ranging system includes a plurality of ranging apparatuses. Each of the plurality of ranging apparatuses is configured to emit a laser pulse sequence, receive a laser pulse sequence reflected by an object, and detect the object according to the laser pulse sequence emitted and the laser pulse sequence received. The two or more ranging apparatuses of the plurality of ranging apparatuses are configured to emit laser pulse sequence with different time sequences and/or to emit different laser pulse sequences.
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Patent Agency Ranking
公开(公告)号：US20200293067A1
公开(公告)日：2020-09-17
申请号：US16891623
申请日：2020-06-03
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Guozheng LU , Fu ZHANG
Abstract: A method for estimating a state associated with a mobile body includes obtaining measurements from a plurality of measuring devices associated with the mobile body. The plurality of measuring devices include an accelerometer and the measurement from the accelerometer is filtered using a noise filter. The method further includes predicting, based at least in part on a first estimate of the state associated with the mobile body and a plurality of models, a second estimate of the state. The plurality of models include a filter model for the noise filter. The method also includes updating the second estimate of the state based at least in part on the measurements from the plurality of measuring devices to obtain a third estimate of the state.
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公开(公告)号：US20210343047A1
公开(公告)日：2021-11-04
申请号：US17376893
申请日：2021-07-15
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Pu LI , Fu ZHANG , Xiaozhen ZHENG
Abstract: A three-dimensional data point encoding method includes determining maximum values of range values of an initial block of target three-dimensional data points in a radial distance direction, a zenith angle direction, and an azimuth angle direction according to position coordinates of the target three-dimensional data points in a spherical coordinate system, performing partitioning processes on the initial block, and encoding the target three-dimensional data points according to partitioning results of the initial block. Performing the partitioning processes on the initial block includes performing at least one octree partitioning process on the initial block to obtain a plurality of first-type sub-blocks and performing at least one of a quadtree partitioning process or a binary tree partitioning process on at least one of the plurality of first-type sub-blocks.
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公开(公告)号：US20210335019A1
公开(公告)日：2021-10-28
申请号：US17371819
申请日：2021-07-09
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Pu LI , Xiaozhen ZHENG , Fu ZHANG
IPC: G06T9/40
Abstract: The present disclosure provides a three-dimensional (3D) data point set processing method, the 3D data point set being divided by a multi-tree method. The 3D) data point set processing method includes encoding or decoding a Nth layer of the multi-tree in by using a breadth-first approach; and encoding or decoding a first node by using a depth-first approach when all 3D data points in the first node of the Nth layer fall into a same node of a Mth layer under the first node, wherein N and M are integers greater than or equal to one.
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公开(公告)号：US20210256740A1
公开(公告)日：2021-08-19
申请号：US17308056
申请日：2021-05-05
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Yanzhao LI , Fu ZHANG , Han CHEN
IPC: G06T11/00
Abstract: A method for increasing point cloud sampling density, a point cloud processing system, and a readable storage medium. The method for increasing point cloud sampling density includes operations that performing a projection transformation on a three-dimensional first point cloud based on a given plane to obtain a first planar image, inserting a plurality of pixel points in the blank area based on a pixel point around a blank area in the first planar image to obtain a second planar image, and performing an inverse projection transformation on the second planar image to obtain a reconstructed three-dimensional second point cloud. This disclosure replaces the insertion point in the three-dimensional point cloud with the insertion of the pixel point in the planar image, which can reduce the difficulty of data inserting.
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公开(公告)号：US20200033454A1
公开(公告)日：2020-01-30
申请号：US16585402
申请日：2019-09-27
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Xiaoping HONG , Peng WANG , Huai HUANG , Mingyu WANG , Fu ZHANG
Abstract: A sensor system includes a light source, a plurality of optical elements, a controller, and a detector. The light source is configured to generate a series of light pulses at different time points. The optical elements rotate independently about rotation axes that are substantially aligned with each other. The controller is configured to control respective rotation of each of the plurality of optical elements, enabling the plurality of optical elements to collectively direct the series of light pulses toward different directions in an angle of view of the sensor system. The detector is configured to detect a plurality of target points in the angle of view. Each target point is detected based on receiving at least a portion of photon energy of a light pulse, from the series of light pulses, that is reflected back from one or more objects in the angle of view.
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