公开(公告)号：US20170083748A1

公开(公告)日：2017-03-23

申请号：US15366857

申请日：2016-12-01

Applicant: SZ DJI TECHNOLOGY Co., Ltd

Inventor： You Zhou ,  Cong Zhao ,  Ketan Tang ,  Jiaqi Yan

IPC: G06K9/00 ,  G06K9/62 ,  B64C39/02 ,  H04N5/232 ,  H04N7/18 ,  B64D47/08 ,  G06T7/20 ,  G06T7/00

CPC classification number: G06K9/0063 ,  B64C39/024 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/145 ,  B64D47/08 ,  G01S5/02 ,  G06K9/00771 ,  G06K9/4604 ,  G06K9/4671 ,  G06K9/6228 ,  G06T7/215 ,  G06T7/248 ,  G06T2207/10032 ,  G06T2207/30232 ,  H04N5/232 ,  H04N5/33

Abstract: Systems, methods, and devices are provided herein for detecting and tracking one or more movable objects. A method for supporting visual tracking may be provided. The method may comprise: receiving a plurality of image frames captured at different times using an imaging device, wherein each image frame comprises a plurality of pixels that are associated with a plurality of feature points; analyzing the plurality of image frames to compute movement characteristics of the plurality of feature points; and identifying at least one tracking feature relative to at least one background feature based on the movement characteristics of the plurality of feature points.

公开(公告)号：US11863857B2

公开(公告)日：2024-01-02

申请号：US18164811

申请日：2023-02-06

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Jie Qian ,  Haonan Li ,  Cong Zhao

IPC: H04N5/232 ,  G06T7/70 ,  H04N23/61 ,  G06V10/40 ,  H04N23/60 ,  H04N23/68 ,  H04N23/69 ,  H04N23/63

CPC classification number: H04N23/61 ,  G06T7/70 ,  G06V10/40 ,  H04N23/60 ,  H04N23/635 ,  H04N23/68 ,  H04N23/69

Abstract: A method includes: determining a target object in a photographed image to track the target object; determining, based on shooting information of a photographing device carried by a movable object, a location of the target object to continuously record the location of the target object; and in response to a disappearance of the target object in the photographed image, controlling, according to the recorded location of the target object prior to the disappearance of the target object, an attitude of the photographing device such that the photographing device continues to photograph in a direction from the photographing device to the location of the target object.

公开(公告)号：US11724805B2

公开(公告)日：2023-08-15

申请号：US17403371

申请日：2021-08-16

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Jie Qian ,  Cong Zhao ,  Junfeng Yu ,  Xuyang Feng ,  Ang Liu

IPC: B64C39/02 ,  G05D1/00 ,  G05D1/02 ,  G05D1/10 ,  G06F18/00 ,  G06V20/17 ,  G06T7/00 ,  G05D1/08 ,  G06V40/16 ,  B64U101/30

CPC classification number: B64C39/024 ,  G05D1/0094 ,  G05D1/0253 ,  G05D1/10 ,  G06F18/00 ,  G06V20/17 ,  B64U2101/30 ,  G05D1/0808 ,  G05D1/101 ,  G06T7/00 ,  G06V40/161

Abstract: A control method includes acquiring motion information of a tracked object, and based on the motion information, controlling movement of a carrying device that carries a tracking device to enable the tracking device to track the tracked object while maintaining approximately unchanged an angle between a moving direction of the tracked object and a line connecting the tracked object and the tracking device when the tracked object moves.

公开(公告)号：US11697411B2

公开(公告)日：2023-07-11

申请号：US16899133

申请日：2020-06-11

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Jinzhu Huang ,  Cong Zhao

IPC: B60W30/09 ,  B60T8/1755 ,  B60T7/22 ,  B60R21/0134 ,  B60W10/04 ,  B60W10/18 ,  B64C39/02 ,  G01V8/10 ,  G05D1/00 ,  G08G5/04 ,  B64U70/83 ,  B64U101/30 ,  B60R21/01

CPC classification number: B60W30/09 ,  B60R21/0134 ,  B60T7/22 ,  B60T8/17558 ,  B60W10/04 ,  B60W10/18 ,  B64C39/024 ,  G01V8/10 ,  G05D1/0094 ,  G08G5/04 ,  B60R2021/01013 ,  B60T2201/022 ,  B60T2210/32 ,  B60W2554/00 ,  B64U70/83 ,  B64U2101/30

Abstract: A movable object for responding to an object includes a first passive infrared sensor having a first detection range and a first field of view, and one or more second passive infrared sensors each having a second detection range and a second field of view. The second detection range is longer than the first detection range and the second field of view is smaller than the first field of view. The movable object further includes one or more processors configured to recognize the object based on one or more heat signals received from at least one of the first passive infrared sensor or the one or more second passive infrared sensors, and perform a flight response measure to control the movable object based on the recognized object.

公开(公告)号：US11188101B2

公开(公告)日：2021-11-30

申请号：US16426182

申请日：2019-05-30

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： You Zhou ,  Xuyang Feng ,  Cong Zhao

IPC: G05G5/00 ,  H04N5/28 ,  G05D1/00 ,  G05D1/10 ,  B64C39/02 ,  B64D47/08 ,  G08G5/00 ,  H04N5/232

Abstract: A method for controlling an aircraft includes determining photographing information related to a photographing object, the photographing information indicating an occupying scope of the photographing object in an image to be captured. The method also includes controlling the aircraft to fly to a photographing location based on the photographing information.

公开(公告)号：US11106203B2

公开(公告)日：2021-08-31

申请号：US16278042

申请日：2019-02-15

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Zhicong Huang ,  Cong Zhao ,  Shuo Yang ,  Yannan Wu ,  Kang Yang ,  Guyue Zhou

IPC: G06F3/0483 ,  G05D1/00 ,  H04N13/156 ,  H04N13/332 ,  G01C23/00 ,  G06F3/01 ,  H04N13/122 ,  G06F3/0484 ,  G06F1/16 ,  H04N13/204 ,  H04N13/344 ,  G06K9/00 ,  G06T7/593 ,  G06T7/70 ,  B64C39/02 ,  G01B11/14 ,  G01B11/22 ,  G06K9/62 ,  H04N13/00 ,  H04N5/217 ,  H04N13/239 ,  H04N5/232 ,  H04N5/357 ,  H04N13/194

Abstract: A method for generating a first person view (FPV) of an environment includes, with aid of one or more processors individually or collectively, analyzing stereoscopic video data of the environment to determine environmental information and generating augmented stereoscopic video data of the environment by fusing the stereoscopic video data and the environmental information.

公开(公告)号：US10928838B2

公开(公告)日：2021-02-23

申请号：US15922023

申请日：2018-03-15

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： You Zhou ,  Jiaqi Yan ,  Honghui Zhang ,  Cong Zhao

IPC: H04N5/232 ,  G01S3/786 ,  G06K9/00 ,  G06T7/246 ,  G06T7/70 ,  B64C39/02 ,  G05D1/00 ,  G05D1/12 ,  G06T7/20 ,  G05D1/10

Abstract: A method for determining position of a target includes determining at least two measurement points of the target, obtaining vector data of at least two direction vectors based on an imaging position of the target on an imaging system and parameter data of the imaging system, and determining a distance between the target and the imaging system according to the vector data and a current vertical height of the imaging system. Each of the at least two direction vectors is a vector from the imaging system to a corresponding one of the at least two measurement points.

公开(公告)号：US20170123425A1

公开(公告)日：2017-05-04

申请号：US15404038

申请日：2017-01-11

Applicant: SZ DJI TECHNOLOGY CO., Ltd

Inventor： Cong Zhao

IPC: G05D1/02 ,  B64D47/08 ,  B64C39/02

CPC classification number: G05D1/0202 ,  B64C39/024 ,  B64D47/08 ,  G01S19/42 ,  G05D1/0011 ,  G05D1/102 ,  G06K9/0063 ,  G06K9/00664 ,  G06K9/4671 ,  G06T7/73 ,  G06T2207/30184 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: Apparatus, methods, and computer readable mediums for determining a position of a vehicle are provided. Imaging devices may be coupled to movable objects, such as unmanned aerial vehicles (UAVs). One or more images may be captured by an imaging device, such as a camera. Salient features within the one or more images may be determined. A distance from the vehicle to the salient features may be calculated and a position of the vehicle may be determined.

公开(公告)号：US20170010623A1

公开(公告)日：2017-01-12

申请号：US15213118

申请日：2016-07-18

Applicant: SZ DJI TECHNOLOGY CO., Ltd

Inventor： Ketan Tang ,  Honghui Zhang ,  Cong Zhao

IPC: G05D1/10 ,  B64D47/08 ,  G06T7/00 ,  B64C39/02 ,  G06K9/00 ,  H04N5/232

CPC classification number: G05D1/101 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/123 ,  B64D47/08 ,  G01C3/00 ,  G01C3/14 ,  G05D1/102 ,  G06K9/0063 ,  G06K9/00805 ,  G06T7/73 ,  G06T2207/10004 ,  H04N5/247

Abstract: Systems and methods for obstacle detection and state information determination are provided. In some embodiments, a movable object may carry one or more imaging devices. The imaging devices may be arranged on the movable object so as to have a field of view oriented vertically relative to the movable object. The arrangement of the imaging device may complement or supplant existing arrangement schemes and provide efficient, multi-functional and cost-effective means of arranging imaging devices on movable objects.

Abstract translation: 提供了用于障碍物检测和状态信息确定的系统和方法。 在一些实施例中，可移动物体可携带一个或多个成像装置。 成像装置可以布置在可移动物体上，以便具有相对于可移动物体垂直取向的视野。 成像装置的布置可以补充或取代现有的布置方案，并提供将成像装置布置在可移动物体上的有效，多功能和成本有效的方法。

公开(公告)号：US20160327956A1

公开(公告)日：2016-11-10

申请号：US15214023

申请日：2016-07-19

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Xingyu Zhang ,  Ketan Tang ,  Cong Zhao

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

CPC classification number: G05D1/042 ,  B64C39/024 ,  B64D45/00 ,  B64D47/08 ,  G01C5/00 ,  G05D1/005

Abstract: Systems, methods, and devices are provided for providing flight response to flight-restricted altitudes. The altitude of an unmanned aerial vehicle (UAV) may be compared with an altitude restriction. If needed a flight-response measure may be taken by the UAV to prevent the UAV from flying in a restricted altitude. The altitude measurement of the UAV and/or altitude restriction of the UAV may be modified for improved performance. Different flight-response measures may be taken depending on preference and the rules of a jurisdiction within which the UAV falls.

Abstract translation: 提供系统，方法和设备，以提供对飞行限制高度的飞行响应。 可以将无人机（UAV）的高度与高度限制进行比较。 如果需要，UAV可以采取飞行反应措施来防止无人机在有限的高度飞行。 UAV的高度测量和/或UAV的高度限制可以被修改以提高性能。 不同的飞行反应措施可能取决于偏好和UAV下降的管辖范围。