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公开(公告)号：US20210171200A1
公开(公告)日：2021-06-10
申请号：US17180559
申请日：2021-02-19
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： You ZHOU , Jinsong LI , Jie LIU
Abstract: The present disclosure provides a device for controlling a mobile platform. The device includes a processor; and a memory storing program instructions that, when being executed by the processor, cause the processor to receive an instruction to enter a point of interest (POI) circle mode; and enter the POI circle mode, the POI circle mode including a target determination phase, a target estimation phase, and a circling phase in sequence. The mobile platform determines a circling target during the target determination phase. The mobile platform detects a position of the circling target during the target estimation phase. The mobile platform circles the circling target based on the position of the circling target during the circling phase.
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公开(公告)号：US20210012520A1
公开(公告)日：2021-01-14
申请号：US17033872
申请日：2020-09-27
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Abstract: A method for measuring distance using an unmanned aerial vehicle (UAV) includes: identifying a target object to be measured; receiving a plurality of images captured by a camera of the UAV when the UAV is moving and the camera is tracking the target object; collecting movement information of the UAV corresponding to capturing moments of the plurality of images; and calculating a distance between the target object and the UAV based on the movement information and the plurality of images.
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公开(公告)号：US20200074657A1
公开(公告)日：2020-03-05
申请号：US16678395
申请日：2019-11-08
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： You ZHOU , Jie LIU , Ketan TANG
Abstract: A method of processing an image having a first set of pixels includes generating a depth map of the image that includes a second set of pixel values representative of distances of objects in the image, identifying a plurality of different depths at which the objects are located in the image based on the depth map, using the depth map to determine a relative distance between one identified depth in the plurality of different depths and each of the other identified depths in the plurality of different depths, and blurring pixels in the first set of pixels based on each determined relative distance.
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公开(公告)号：US20210133996A1
公开(公告)日：2021-05-06
申请号：US17144594
申请日：2021-01-08
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： You ZHOU , Jie LIU , Jinzhu HUANG
Abstract: Techniques are disclosed for motion-based automatic image capture in a movable object environment Image data including a plurality of frames can be obtained and a region of interest in the plurality of frames can be identified. The region of interest may include a representation of one or more objects. Depth information for the one or more objects can be determined in a first coordinate system. A movement characteristic of the one or more objects may then be determined in the second coordinate system based at least on the depth information. One or more frames from the plurality of frames may then be identified based at least on the movement characteristic of the one or more objects.
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公开(公告)号：US20210118172A1
公开(公告)日：2021-04-22
申请号：US17133423
申请日：2020-12-23
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： You ZHOU , Jie LIU , Zhenyu ZHU
IPC: G06T7/73 , G06K9/62 , G06K9/00 , G06T7/50 , G06T5/00 , G06T5/50 , H04N5/247 , B64C39/02 , G05D1/12
Abstract: The present disclosure relates to a target detection method, including: determining a target object in a first image acquired by a first image acquisition device; estimating a position of the target object in a second image acquired by a second image acquisition device; determining whether an object at the second position is the same as the target object; and if yes, recording the second position as a position of the target object in the second image. According to the present disclosure, by estimating the position of the target object in the second image and determining whether the object at the second position is the same as the target object, a relationship between the first image acquisition device and the second image acquisition device can be established, and the second image acquisition device does not need to detect the target object in the second image again.
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Patent Agency Ranking
公开(公告)号：US20210103299A1
公开(公告)日：2021-04-08
申请号：US16910890
申请日：2020-06-24
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Abstract: An obstacle avoidance method includes obtaining a depth image photographed by a photographing device mounted at a movable platform, recognizing a moving object based on the depth image, determining a moving speed vector of the moving object, determining a potential collision region where the moving object is likely to collide with the movable platform based on the moving speed vector of the moving object; and controlling the movable platform to perform an obstacle avoidance process in the potential collision region.
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7.发明公开公开(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
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.
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8.发明公开公开(公告)号：US20230376106A1
公开(公告)日：2023-11-23
申请号：US18228197
申请日：2023-07-31
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： You ZHOU , Jie LIU , Zhenyu ZHU
IPC: G06F3/01 , G06T7/593 , H04N13/271 , G06V10/426 , G06V20/64 , G06V40/10 , G06T7/521 , H04N13/00
CPC classification number: G06F3/011 , G06T7/593 , H04N13/271 , G06V10/426 , G06V20/64 , G06V40/103 , G06T7/521 , H04N2013/0081
Abstract: A method includes determining a depth range where a subject is likely to appear in a current depth map based on one or more previous depth maps of the environment, filtering the current depth map based on the depth range, to generate a reference depth map, identifying a plurality of candidate regions from the reference depth map, selecting a subset of the plurality of candidate regions, determining a main region from the subset of the plurality of candidate regions, associating the main region and one or more target regions, identifying the first pose component of the subject from a collective region, identifying the second pose component of the subject from the collective region, determining one or more vectors representing a spatial relationship between the identified first pose component and the identified second pose component, and controlling a movement of a movable object based on the one or more vectors.
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公开(公告)号：US20210141378A1
公开(公告)日：2021-05-13
申请号：US17151187
申请日：2021-01-17
Applicant: SZ DJI TECHNOLOGY CO., LTD.
IPC: G05D1/00 , B64C39/02 , B64D47/08 , G08G5/00 , G08G5/04 , G05D1/10 , G05D1/08 , G06T17/00 , H04N5/232 , G06T7/73 , G06K9/46 , G06T7/11 , G06K9/00
Abstract: The present disclosure provides an imaging method including building a 3D model of a target based on vision technology, the 3D model including 2D information of the target at different angles and 3D information corresponding to each piece of 2D information; controlling an unmanned aerial vehicle (UAV) the UAV to move around the target; acquiring real-time images captured by an imaging module on the UAV; and adjusting a flight trajectory of the UAV and/or an imaging direction of the imaging module based on the real-time images. The 2D information of the target are at different angles, and the 3D information correspond to each piece of 2D information.
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公开(公告)号：US20210103293A1
公开(公告)日：2021-04-08
申请号：US17123125
申请日：2020-12-16
Applicant: SZ DJI TECHNOLOGY CO., LTD.
Inventor： Jinsong LI , You ZHOU , Jie LIU
Abstract: The present disclosure provides control methods and apparatuses for a mobile robot, devices, and storage media. The control method includes: obtaining indication information of a target object, wherein the indication information includes position information of the target object in a reference image output by a photographic apparatus of a mobile robot; determining the position information of the target object according to the indication information; and controlling, according to the position information of the target object, the mobile robot to move around the target object. With the provided control methods and apparatuses, devices, and storage media, the mobile robot may move around the target object without needing to move to a circling center to record a position of the circling center, thereby simplifying a movement of the mobile robot around the target object, and improving the operation security of the mobile robot.
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