Method and system for detecting obstructive object at projected locations within images
AssigneeSz Dji Technology Co., Ltd.
InventorsShaojie Shen, Xianliang Wu, Liansheng Chen
Life of this patent
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Abstract
A method for supporting image processing for a movable object includes acquiring one or more images captured by an imaging device borne by the movable object. The imaging device is at least partially blocked by an obstructive object attached to the movable object. The method further includes applying a template to the one or more images to obtain one or more projected locations of the obstructive object within the one or more images and detecting at least portion of the obstructive object at the one or more projected locations within the one or more images.
Claims19
A method for supporting image processing for a movable object, comprising:
- acquiring one or more images captured by an imaging device borne by the movable object, wherein the imaging device is at least partially blocked by an obstructive object attached to the movable object;
- applying a template to the one or more images to obtain one or more projected locations of the obstructive object within the one or more images, the template including a pattern representing one or more projected locations of at least portion of the obstructive object during a rotational motion of the obstructive object;
- and
- detecting at least portion of the obstructive object at the one or more projected locations within the one or more images.
A system for controlling a movable object, the system comprising:
- one or more processors;
- and
- a memory storing one or more programs that are configured to be executed by the one or more processors for:
- acquiring one or more images captured by an imaging device borne by the movable object, wherein the imaging device is at least partially blocked by an obstructive object attached to the movable object;
- applying a template to the one or more images to obtain one or more projected locations of the obstructive object within the one or more images, the template including a pattern representing one or more projected locations of at least portion of the obstructive object during a rotational motion of the obstructive object;
- and
- detecting at least portion of the obstructive object at the one or more projected locations within the one or more images.
An unmanned aerial vehicle (UAV), comprising:
- a propulsion system;
- an imaging device comprising an image sensor and an optical device;
- and
- one or more processors coupled to the propulsion system and the imaging device, the one or more processors configured for:
- acquiring one or more images captured by the imaging device borne by the UAV, wherein the imaging device is at least partially blocked by an obstructive object attached to the UAV;
- applying a template to the one or more images to obtain one or more projected locations of the obstructive object within the one or more images, the template including a pattern representing one or more projected locations of at least portion of the obstructive object during a rotational motion of the obstructive object;
- and
- detecting at least portion of the obstructive object at the one or more projected locations within the one or more images.
Dependencies are inferred from the claim text.