# US 12,007,768 B2 · Systems and methods for providing flight control for an unmanned aerial vehicle based on opposing fields of view with overlap > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,007,768 B2 - Document ID: US12007768B2 - Status: Granted - Kind: B2 - Application number: 17/412,482 - Filed: 2021-08-26 - Published: 2022-02-10 - Granted: 2024-06-11 - Earliest claimed: 2015-12-21 - Assignees: GoPro, Inc. - Applicants: GoPro, Inc. - Inventors: Pablo Lema; Gary Fong; Shu Ching Ip - Web page: https://patentgrep.com/patent/US12007768B2 ## CPC - G05D 1/243: Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) - B64C 13/18: using automatic pilot - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/102: {specially adapted for vertical take-off of aircraft} - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - G05D 1/46: Control of position or course in three dimensions [3D] - B64U 2101/30: for imaging, photography or videography - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64C: AEROPLANES; HELICOPTERS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract This disclosure relates to providing flight control for an unmanned aerial vehicle based on opposing fields of view with overlap. The UAV may include a housing, a motor, a first image sensor, a second image sensor, a first optical element having a first field of view greater than 180 degrees, a second optical element having a second field of view greater than 180 degrees, and one or more processors. The first optical element and the second optical element may be carried by the housing such that a centerline of the second field of view is substantially opposite from a centerline of the first field of view, and a peripheral portion of the first field of view and a peripheral portion of the second field of view overlap. Flight control for the UAV may be provided based on parallax disparity of an object within the overlapping fields of view. ## Claims ### Claim 1 An unmanned aerial vehicle, comprising: a first optical element being oriented such that a first field of view is directed upwards when the unmanned aerial vehicle operates; a second optical element being positioned at least partially below the first optical element such that a peripheral portion of the first field of view and a peripheral portion of a second field of view overlap, the second optical element being oriented such that the second field of view is directed downwards when the unmanned aerial vehicle operates, wherein an angle of the overlap of the peripheral portion of the first field of view and the peripheral portion of the second field of view is asymmetrical about a vertical axis of the unmanned aerial vehicle so that the overlap in a front of the unmanned aerial vehicle and the overlap in a rear of the unmanned aerial vehicle are different; and a processor configured to determine a disparity of an object captured within the overlap of the peripheral portion of the first field of view and the peripheral portion of the second field of view so that the processor controls flight of the unmanned aerial vehicle based on the disparity to follow the object while maintaining a distance between the unmanned aerial vehicle and the object. ### Claim 2 (depends on 1) The unmanned aerial vehicle of claim 1, wherein the first optical element is configured to guide light to a first image sensor and the second optical element is configured to guide light to a second image sensor. ### Claim 3 (depends on 1) The unmanned aerial vehicle of claim 1, further comprising: a housing; and a motor carried by the housing, the motor configured to drive a rotor. ### Claim 4 (depends on 3) The unmanned aerial vehicle of claim 3, wherein the first optical element is carried by the housing such that a centerline of the first field of view is substantially parallel to the vertical axis of the unmanned aerial vehicle. ### Claim 5 (depends on 3) The unmanned aerial vehicle of claim 3, wherein the first optical element is carried by the housing such that a centerline of the first field of view is coincident with the vertical axis of the unmanned aerial vehicle. ### Claim 6 (depends on 3) The unmanned aerial vehicle of claim 3, wherein the first optical element is carried by the housing such that a centerline of the first field of view is not coincident with the vertical axis of the unmanned aerial vehicle. ### Claim 7 (depends on 3) The unmanned aerial vehicle of claim 3, wherein the first optical element is carried by the housing such that a centerline of the first field of view is offset from the vertical axis of the unmanned aerial vehicle. ### Claim 8 (depends on 7) The unmanned aerial vehicle of claim 7, wherein the offset is ten degrees or less. ### Claim 9 (depends on 3) The unmanned aerial vehicle of claim 3, wherein the first optical element is carried by the housing such that an offset of a centerline of the first field of view from the vertical axis of the unmanned aerial vehicle changes based on a tilt of the unmanned aerial vehicle. ### Claim 10 (depends on 3) The unmanned aerial vehicle of claim 3, wherein the first optical element and the second optical element are carried by the housing such that a centerline of the first field of view is not coincident with a centerline of the second field of view. ### Claim 11 (depends on 1) The unmanned aerial vehicle of claim 1, wherein the peripheral portion of the first field of view and the peripheral portion of the second field of view that overlap circumscribe the unmanned aerial vehicle around the vertical axis of the unmanned aerial vehicle. ### Claim 12 A system, comprising: a housing; a rotor; a motor configured to drive the rotor; a first image sensor; a second image sensor; a first optical element configured to guide light within a first field of view to the first image sensor, the first optical element being oriented such that the first field of view is directed upwards when the system operates; a second optical element configured to guide light within a second field of view to the second image sensor, the second optical element being carried by the housing at least partially below the first optical element such that a peripheral portion of the first field of view and a peripheral portion of the second field of view overlap, the second optical element being oriented such that the second field of view is directed downwards when the system operates; and a processor configured to determine a disparity of an object captured within the overlap of the peripheral portion of the first field of view and the peripheral portion of the second field of view so that the processor controls the system based on the disparity, wherein the overlap of the peripheral portion of the first field of view and the peripheral portion of the second field of view is asymmetrical relative to a vertical axis of the system so that the overlap in a front of the system and the overlap in a rear of the system are different, and wherein the processor controls flight of the system based on the disparity to maintain the system at a distance relative to the object while tracking the object. ### Claim 13 (depends on 12) The system of claim 12, wherein the overlap includes 360 degrees of lateral directions around the system. ### Claim 14 (depends on 12) The system of claim 12, wherein the first optical element is carried by the housing such that one of a centerline of the first field of view is substantially parallel to the vertical axis of the system, the centerline of the first field of view is coincident with the vertical axis of the system, the centerline of the first field of view is not coincident with the vertical axis of the system, or the centerline of the first field of view is offset from the vertical axis of the system by ten degrees or less. ### Claim 15 (depends on 12) The system of claim 12, wherein the first optical element is carried by the housing such that an offset of a centerline of the first field of view from the vertical axis of the system changes based on a tilt of the system. ### Claim 16 (depends on 12) The system of claim 12, wherein the first optical element and the second optical element are carried by the housing such that a centerline of the first field of view is not coincident with a centerline of the second field of view. ### Claim 17 (depends on 12) The system of claim 12, wherein the peripheral portion of the first field of view and the peripheral portion of the second field of view that overlap circumscribe the system around the vertical axis of the system. ### Claim 18 A non-transitory computer readable storage medium having instructions executed thereon that, when executed by a processor, causes the processor to: receive a first output signal, generated by a first image sensor, and convey first visual information within a first field of view of a first optical element, wherein the first optical element is carried by an unmanned aerial vehicle and is vertically oriented such that the first field of view is directed upwards; receive a second output signal, generated by a second image sensor, and convey second visual information within a second field of view of a second optical element, wherein the second optical element is carried by the unmanned aerial vehicle at least partially below the first optical element such that a peripheral portion of the first field of view and a peripheral portion of the second field of view overlap thereby circumscribing the unmanned aerial vehicle, and wherein the second optical element is vertically oriented such that the second field of view is directed downwards, wherein an angle of the overlap of the peripheral portion of the first field of view and the peripheral portion of the second field of view is asymmetrical about a vertical axis of the unmanned aerial vehicle so that the overlap in a front of the unmanned aerial vehicle and the overlap in a rear of the unmanned aerial vehicle are different; determine a disparity of an object captured within the overlap of the peripheral portion of the first field of view and the peripheral portion of the second field of view; and control the unmanned aerial vehicle based on the disparity to follow the object while maintaining a distance between the unmanned aerial vehicle and the object. ### Claim 19 (depends on 18) The non-transitory computer readable storage medium of claim 18, wherein the peripheral portion of the first field of view and the peripheral portion of the second field of view that overlap circumscribe the unmanned aerial vehicle around the vertical axis of the unmanned aerial vehicle.