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US 11,153,494 B2Granted
Maximum temperature point tracking method, device and unmanned aerial vehicle
AssigneeSz Dji Technology Co., Ltd.
InventorsChao Weng, Mingxi Wang, Wei Zhang
Life of this patent
Estimating the term…
Abstract
In the method, a first pair of coordinates of a maximum temperature point in an image sensed by an infrared camera is acquired, where the image is an image captured by the infrared camera. A rotation angle of a gimbal equipped with the infrared camera is then determined according to the first pair of coordinates of the maximum temperature point and a pair of coordinates of a target position in the image. The gimbal is then controlled to rotate according to the determined rotation angle, so as to adjust the maximum temperature point in the image captured by the infrared camera to be located at the target position.
Claims20
A method for tracking a maximum temperature point, comprising:
- acquiring a first pair of coordinates of a maximum temperature point sensed by an infrared camera in a current frame of image, the current frame of image being an image captured by the infrared camera;
- obtaining a temperature of the maximum temperature point sensed by the infrared camera in the current frame of image;
- predicting an expected pair of coordinates of the maximum temperature point in a subsequent frame of image to be captured by the infrared camera according to the temperature of the maximum temperature point and the first pair of coordinates;
- determining a rotation angle of a gimbal equipped with the infrared camera according to the expected pair of coordinates and a pair of coordinates of a target position in the subsequent frame of image;
- and
- controlling the gimbal to rotate according to the rotation angle, so as to adjust the maximum temperature point in the subsequent frame of image captured by the infrared camera to be located at the target position.
3 more elements
An unmanned aerial vehicle, comprising:
- a body, a gimbal, an infrared camera, and a maximum temperature point tracking device, wherein the gimbal is connected to the body and is used for carrying the infrared camera, the maximum temperature point tracking device is communicatively connected with the gimbal and the infrared camera, respectively, and the maximum temperature point tracking device comprises one or more processors configured to:
- acquire a first pair of coordinates of a maximum temperature point sensed by the infrared camera in a current frame of image, the current frame of image being an image captured by the infrared camera;
- obtain a temperature of the maximum temperature point sensed by the infrared camera in the current frame of image;
- predict an expected pair of coordinates of the maximum temperature point in a subsequent image to be captured by the infrared camera according to the temperature of the maximum temperature point and the first pair of coordinates;
- determine a rotation angle of the gimbal equipped with the infrared camera according to the expected pair of coordinates and a pair of coordinates of a target position in the subsequent frame of image;
- and
- control the gimbal to rotate according to the rotation angle, so as to adjust the maximum temperature point in the subsequent frame of image captured by the infrared camera to be located at the target position.
4 more elements
A method for tracking a maximum temperature point, comprising:
- acquiring a first pair of coordinates of a maximum temperature point in an image sensed by an infrared camera in a current frame of image, the current frame of image being an image captured by the infrared camera;
- obtaining a temperature of the maximum temperature point sensed by the infrared camera in the current frame of image;
- in response to the temperature of the maximum temperature point in the current frame of image falling within a maximum temperature confidence interval, determining the first pair of coordinates of the maximum temperature point in the current frame of image to be an expected pair of coordinates of the maximum temperature point in a subsequent frame of image to be captured by the infrared camera or determining the expected pair of coordinates of the maximum temperature point in the subsequent frame of image to be captured by the infrared camera according to the first pair of coordinates of the maximum temperature point in the current frame of image and first pairs of coordinates of maximum temperature points of preceding N frames of images, wherein the preceding N frames of images are consecutive N frames of images in which temperatures of the maximum temperature points fall within the maximum temperature confidence interval, and N is an integer greater than or equal to 1;
- determining a rotation angle of a gimbal equipped with the infrared camera according to the expected pair of coordinates and a pair of coordinates of a target position in the subsequent frame of image;
- and
- controlling the gimbal to rotate according to the rotation angle, so as to adjust the maximum temperature point in the subsequent frame of image captured by the infrared camera to be located at the target position.
3 more elements
Dependencies are inferred from the claim text.