# US 2019/0244385 A1 · System and method for moment capturing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0244385 A1 - Document ID: US20190244385A1 - Status: Published application - Kind: A1 - Application number: 16/382,558 - Filed: 2019-04-12 - Published: 2019-08-08 - Earliest claimed: 2016-10-14 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Cong ZHAO; Xuyang FENG; Jie QIAN; Sijin LI - Web page: https://patentgrep.com/patent/US20190244385A1 ## CPC - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - H04N 23/60: Control of cameras or camera modules - 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] - G06T 7/292: Multi-camera tracking - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract An imagery method includes obtaining a plurality of images of an object captured using one or more imaging devices within a period of time while the object is being tracked, performing motion and/or state estimation of the object for the period of time, and selecting one or more images related to a moment from the plurality of images based on the motion and/or state estimation of the object. ## Claims ### Claim 1 An imagery method, comprising: obtaining a plurality of images of an object, wherein the plurality of images are captured using one or more imaging devices within a period of time while the object is being tracked; performing motion and/or state estimation of the object for the period of time; and selecting one or more images related to a moment from the plurality of images based on the motion and/or state estimation of the object. ### Claim 2 (depends on 1) The method of claim 1, further comprising: maintaining the plurality of images in an image buffer. ### Claim 3 (depends on 2) The method of claim 2, further comprising: causing the one or more imaging devices to capture the plurality of images upon receiving a trigger. ### Claim 4 (depends on 3) The method of claim 3, wherein the trigger is an indicator that is detected from a previously-captured image of the object or a signal received from the object. ### Claim 5 (depends on 2) The method of claim 2, wherein the plurality of images are buffered at a frequency that is predetermined or dynamically configured based on a rule. ### Claim 6 (depends on 1) The method of claim 1, further comprising: obtaining one or more images that are used to track the object; and determining motion information of the object from the one or more images that are used to track the object. ### Claim 7 (depends on 6) The method of claim 6, wherein the motion information of the object is obtained by analyzing a movement of a bounding box that is used to identify the object in the one or more images that are used to track the object. ### Claim 8 (depends on 6) The method of claim 6, wherein the one or more images that are used to track the object are captured using one or more image sensors that are arranged differently from the one or more imaging devices. ### Claim 9 (depends on 1) The method of claim 1, further comprising: receiving one or more location signals from the object; and determining motion information of the object based on the one or more location signals received from the object. ### Claim 10 (depends on 1) The method of claim 1, further comprising: synchronizing the estimated motion and/or state of the object with the plurality of images that are captured using the one or more imaging devices. ### Claim 11 (depends on 1) The method of claim 1, further comprising: determining a time interval based on a selecting rule; wherein the one or more images are selected further based on the time interval. ### Claim 12 (depends on 11) The method of claim 11, further comprising: storing the selected images in an image buffer. ### Claim 13 (depends on 11) The method of claim 11, further comprising: identifying an image from the selected images based on a user input. ### Claim 14 (depends on 1) The method of claim 1, wherein the plurality of images of the object are received from an unmanned aerial vehicle (UAV). ### Claim 15 An imagery system, comprising: one or more microprocessors; a controller running on the one or more microprocessors, wherein the controller operates to obtain a plurality of images of an object, wherein the plurality of images are captured using one or more imaging devices within a period of time while the object is being tracked; perform motion and/or state estimation of the object for the period of time; and select one or more images related to a moment from the plurality of images based on the motion and/or state estimation of the object. ### Claim 16 (depends on 15) The imagery system of claim 15, wherein the controller operates to maintain the plurality of images in an image buffer. ### Claim 17 (depends on 16) The imagery system of claim 16, wherein the controller operates to cause the one or more imaging devices to capture the plurality of images upon receiving a trigger. ### Claim 18 (depends on 17) The imagery system of claim 17, wherein the trigger is an indicator that is detected from a previously-captured image of the object or a signal received from the object. ### Claim 19 (depends on 17) The imagery system of claim 17, wherein the plurality of images are buffered at a frequency that is predetermined or dynamically configured based on a rule. ### Claim 20 An unmanned aerial vehicle (UAV), comprising: a memory that stores one or more computer-executable instructions; and one or more processors configured to access the memory and execute the computer-executable instructions to perform a method comprising: directing the UAV to track an object; obtaining a plurality of images of the object, wherein the plurality of images are captured by one or more imaging devices carried by the UAV within a period of time while the object is being tracked; performing motion and/or state estimation of the object for the period of time; and selecting one or more images related to a moment from the plurality of images based on the motion and/or state estimation of the object.