US 2019/0161186 A1Published application

Unmanned aerial vehicle, control system for unmanned aerial vehicle and control method thereof

AssigneeIndustrial Technology Research Institute

InventorsGuo-Ruei CHEN, Luo-Wei TSAI, Yeh-Kai CHOU

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Abstract

A UAV (Unmanned Aerial Vehicle) control method comprises: obtaining a first image; obtaining a second image after obtaining the first image; calculating a plurality of feature points respectively according to the first image and the second image by a computing device, extracting a first feature point set and a second feature point set by the computing device; calculating a first-axial displacement and a second-axial displacement according to the first feature point set and the second feature point set by the computing device; calculating a first ROI (Region Of Interest) area, a second ROI and a third-axial displacement according to the first feature point set and the second feature point set by the computing device; adjusting a camera pose or a flight path of the UAV according to the first-axial displacement, the second-axial displacement and the third-axial displacement.

Claims11

Dependent claims

A UAV control method adapted to a UAV with a camera for shooting a target comprising:

obtaining a first image at a first timing;
obtaining a second image by the camera at a second timing after the first timing;
calculating a plurality of feature points respectively according to the first image and the second image by a computing device;
extracting a first feature point set and a second feature point set by the computing device, wherein the first feature point set comprises at least three feature points from the plurality of the feature points of the first image, and the second feature point set comprises at least three feature points from the plurality of the feature points of the second image;
calculating a first-axial displacement and a second-axial displacement according to the first feature point set and the second feature point set by the computing device;
calculating a first ROI area and a second ROI area respectively according to the first feature point set and the second feature point set by the computing device and calculating a third-axial displacement according to the first ROI area and the second ROI area;
and
adjusting a camera pose or a flight path of the UAV according to the first-axial displacement, the second-axial displacement and the third-axial displacement by a control device.

5 more elements

A UAV control system comprising:

a camera configured to shoot a first image and a second image during a flight of a UAV, wherein the first image is shot at a first timing, the second image is shot at a second timing, and the first timing is earlier than the second timing;
a computing device electrically connected to the camera, wherein the computing device is configured to calculate a displacement vector of the UAV during the first timing and the second timing based on the first image and the second image;
and
a control device electrically connected to the computing device, wherein the computing device is configured to selectively adjust a gimbal for adjusting a camera pose or a flight path of the UAV according to the displacement vector.

1 more element

Dependencies are inferred from the claim text.

Facts

Application: 15/921,625Filed 14 Mar 2018
Priority: TW 10614180830 Nov 2017
Published: 30 May 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification19 codes

G06V 20/13
Terrestrial scenes: satellite images
G05D 1/0202
Control of position or course in two dimensions: specially adapted to aircraft
G05D 1/101
Simultaneous control of position or course in three dimensions: specially adapted for aircraft
G06F 18/23213
Using statistics or function optimisation, e.g. modelling of probability density functions: with fixed number of clusters, e.g. K-means clustering