Systems and methods for detecting and tracking movable objects
AssigneeSz Dji Technology Co., Ltd.
InventorsYou Zhou, Cong Zhao, Ketan Tang, Jiaqi Yan
Life of this patent
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Abstract
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.
Claims16
A method for supporting visual tracking comprising:
- receiving a first image frame and a second image frame captured at different times using an imaging device, each of the first and the second image frames including a plurality of pixels associated with a plurality of feature points;
- for each of the plurality of feature points, identifying a first position of the associated pixel in the first image frame and a second position of the associated pixel in the second image frame, and computing a velocity of the feature point by multiplying a speed constant with a difference between a reference transformation based on the first position and a current transformation based on the second position;
- and
- identifying a tracking feature relative to a background feature based on the velocities of the plurality of feature points.
An apparatus for supporting visual tracking comprising one or more processors that are, individually or collectively, configured to:
- receive a first image frame and a second image frame captured at different times using an imaging device, each of the first and the second image frames including a plurality of pixels associated with a plurality of feature points;
- for each of the plurality of feature points, identify a first position of the associated pixel in the first image frame and a second position of the associated pixel in the second image frame, and compute a velocity of the feature point by multiplying a speed constant with a difference between a reference transformation based on the first position and a current transformation based on the second position;
- and
- identify a tracking feature relative to a background feature based on the movement characteristics of the plurality of feature points.
An unmanned aerial vehicle (UAV) comprising:
- a propulsion system;
- and
- a visual tracking system including:
- an imaging device configured to capture a plurality of image frames at different times, each of the plurality of image frames including a plurality of pixels associated with a plurality of feature points;
- and
- one or more processors that are, individually or collectively, configured to:
- receive a first image frame and a second image frame captured at different times using an imaging device, each of the first and the second image frames including a plurality of pixels associated with a plurality of feature points;
- for each of the plurality of feature points, identify a first position of the associated pixel in the first image frame and a second position of the associated pixel in the second image frame, and compute a velocity of the feature point by multiplying a speed constant with a difference between a reference transformation based on the first position and a current transformation based on the second position;
- and
- identify a tracking feature relative to a background feature based on the movement characteristics of the plurality of feature points.
Dependencies are inferred from the claim text.