公开(公告)号：US20210286377A1

公开(公告)日：2021-09-16

申请号：US17330558

申请日：2021-05-26

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Honghui ZHANG ,  You ZHOU

IPC: G05D1/04 ,  B64D47/08 ,  B64C39/02 ,  G06K9/00 ,  B64D45/08 ,  G06T7/593

Abstract: Automatic terrain evaluation of landing surfaces, and associated systems and methods are disclosed herein. A representative method includes receiving a request to land a movable object and, in response to the request, identifying a target landing area on a landing surface based on at least one image of the landing surface obtained by the movable object. The method can further include directing the movable object to land at the target landing area.

公开(公告)号：US20230343087A1

公开(公告)日：2023-10-26

申请号：US18215836

申请日：2023-06-29

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Honghui ZHANG ,  You ZHOU

IPC: G06V20/13 ,  B64D47/08 ,  B64C39/02 ,  B64D45/08 ,  G06V20/64 ,  G06V20/17 ,  G06T7/593 ,  G05D1/04

CPC classification number: G06V20/13 ,  B64D47/08 ,  B64C39/024 ,  B64D45/08 ,  G06V20/64 ,  G06V20/17 ,  G06T7/593 ,  G05D1/042 ,  B64U70/00

Abstract: Automatic terrain evaluation of landing surfaces, and associated systems and methods are disclosed herein. A representative method includes receiving a request to land a movable object and, in response to the request, identifying a target landing area on a landing surface based on at least one image of the landing surface obtained by the movable object. The method can further include directing the movable object to land at the target landing area.

公开(公告)号：US20200304775A1

公开(公告)日：2020-09-24

申请号：US16896979

申请日：2020-06-09

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： You ZHOU ,  Jie LIU ,  Zhenyu ZHU

IPC: H04N13/271 ,  G06T7/593 ,  G06T7/521

Abstract: A pose determination method for a subject includes identifying a plurality of candidate regions from depth data representing an environment based on a depth connectivity criterion, determining a first region including a first subset of the plurality of candidate regions based on an estimation regarding a first pose component of the subject, determining a second region including a second subset of the plurality of candidate regions that are disconnected from the first subset of the plurality of candidate regions based on relative locations of the first region and the second region, generating a collective region by associating the first region with the second region, identifying the first pose component and a second pose component of the subject from the collective region, determining a spatial relationship between the first pose component and the second pose component, and generating a controlling command based on the spatial relationship.

公开(公告)号：US20190172358A1

公开(公告)日：2019-06-06

申请号：US16261714

申请日：2019-01-30

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： You ZHOU ,  Zhenyu ZHU ,  Jiexi DU ,  Canlong LIN ,  Jiahang YING

IPC: G08G5/00 ,  G05D1/10 ,  B64C39/02 ,  G06K9/00

Abstract: A method of controlling a movable object includes obtaining an image of a surrounding of the movable object, obtaining a plurality of depth layers based on the image; projecting a safety zone of the movable object onto at least one of the depth layers, determining whether an object is an obstacle based on a position of the object on the at least one of the depth layers relative to the projected safety zone, and adjusting a travel path of the movable object to travel around the obstacle.

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.

公开(公告)号：US20210004972A1

公开(公告)日：2021-01-07

申请号：US17021964

申请日：2020-09-15

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Mingyu WANG ,  Zhenyu ZHU

IPC: G06T7/40 ,  G06T7/55 ,  H04N5/232

Abstract: A system for processing images captured by a movable object includes one or more processors individually or collectively configured to process a first image set captured by a first imaging component to obtain texture information in response to a second image set captured by a second imaging component having a quality below a predetermined threshold, and obtain environmental information for the movable object based on the texture information. The first imaging component has a first field of view and the second imaging component has a second field of view narrower than the first field of view.

公开(公告)号：US20180156610A1

公开(公告)日：2018-06-07

申请号：US15870174

申请日：2018-01-12

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Zihan CHEN ,  Zhiyuan ZHANG ,  Weifeng LIU ,  Chaobin CHEN

IPC: G01C3/08 ,  G01C9/00 ,  G05D1/10 ,  G05D1/00 ,  G08G5/04 ,  G06K9/00 ,  G06K9/20 ,  G06K9/62 ,  G06K9/78 ,  G06T7/60 ,  G06T7/246 ,  G06T7/292

CPC classification number: G01C3/08 ,  B64C2201/14 ,  G01C3/14 ,  G01C9/005 ,  G05D1/0094 ,  G05D1/10 ,  G06K9/0063 ,  G06K9/209 ,  G06K9/4671 ,  G06K9/6202 ,  G06K9/78 ,  G06K2209/21 ,  G06T7/248 ,  G06T7/292 ,  G06T7/593 ,  G06T7/60 ,  G06T2207/10012 ,  G06T2207/10032 ,  G06T2207/30261 ,  G08G5/0021 ,  G08G5/0069 ,  G08G5/04 ,  G08G5/045

Abstract: A method for distance detection includes detecting a first distance value between a movable object and a target object in a target direction of the movable object, obtaining an inclination angle of the movable object at the target direction, and calculating a second distance value from the movable object to the target object based upon the inclination angle and the first distance value.

公开(公告)号：US20180059225A1

公开(公告)日：2018-03-01

申请号：US15793284

申请日：2017-10-25

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Cong ZHAO ,  Ketan TANG

IPC: G01S7/486 ,  G06T5/50 ,  G06T3/40

CPC classification number: G01S7/4865 ,  G01S17/023 ,  G01S17/102 ,  G01S17/89 ,  G06T3/4076 ,  G06T5/50

Abstract: A method for enhancing image resolution includes obtaining one or more images of a scene. The one or more images are associated with a first depth map. The method further includes determining a second depth map of the scene based upon the one or more images. The second depth map has a higher resolution than the first depth map.

公开(公告)号：US20170374354A1

公开(公告)日：2017-12-28

申请号：US15701041

申请日：2017-09-11

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Cong ZHAO

IPC: H04N13/02 ,  H04N13/00 ,  B64C39/02 ,  B64D47/08

Abstract: A method for focal length adjustment includes capturing scene images of a scene using a first imaging device and a second imaging device of an imaging mechanism, determining a distance between an object of interest in the scene and the imaging mechanism based on the scene images of the scene, and automatically adjusting a focal length of the imaging mechanism according to the distance.

公开(公告)号：US20210314543A1

公开(公告)日：2021-10-07

申请号：US17353769

申请日：2021-06-21

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhenyu ZHU ,  Honghui ZHANG ,  Zhiyuan WU

IPC: H04N13/128 ,  G06T7/593 ,  H04N13/271 ,  H04N13/239 ,  H04N13/243

Abstract: A method of distance measuring includes obtaining a depth map and a stereo pair of images of a scene of interest, and enhancing a precision of the depth map based on disparity values of corresponding points between the images. The images have a higher resolution than the depth map. Enhancing the precision of the depth map includes optimizing an energy function of the images over a predetermined range of disparity values to obtain an optimized energy function; determining the disparity values based on the optimized energy function; and replacing low precision values of the depth map with corresponding high precision values based on the disparity values.