Systems and methods for target tracking
AssigneeSz Dji Technology Co., Ltd.
InventorBo Zang
Life of this patent
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Abstract
The present invention provides systems, methods, and devices related to target tracking by UAVs. The UAV may be configured to receive target information from a control terminal related to a target to be tracked by an imaging device coupled to the UAV. The target information may be used by the UAV to automatically track the target so as to maintain predetermined position and/or size of the target within one or more images captured by the imaging device. The control terminal may be configured to display images from the imaging device as well as allowing user input related to the target information.
Claims30
A system for controlling an unmanned aerial vehicle (UAV), comprising:
- one or more receivers, individually or collectively, configured to receive from a remote user (1) one or more navigation commands to move the UAV along a flight path, and (2) target information of a target to be tracked by an imaging device on the UAV;
- and
- one or more processors, individually or collectively, configured to track the target according to the target information by automatically adjusting at least one of the UAV or the imaging device while the UAV moves along the flight path according to the one or more navigation commands from the remote user, wherein the one or more processors, individually or collectively, make a determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device, wherein said determination is dependent upon a) number of rotational axes of the imaging device and orientation of said rotational axes relative to the UAV;
- b) a navigation path of the UAV;
- or c) a maximum angular speed allowable for the UAV or the imaging device.
A method for controlling an unmanned aerial vehicle (UAV), comprising:
- receiving, from a remote user, user-specified target information of a target to be tracked by an imaging device on the UAV, the user-specified target information including a predetermined position or predetermined size of the target within an image captured by the imaging device, the imaging device coupled to the UAV via a carrier configured to permit the imaging device to move relative to the UAV;
- detecting, by one or more processors onboard the UAV, a deviation from the predetermined position or the predetermined size of the target based on one or more images captured by the imaging device;
- and
- automatically adjusting the UAV, the carrier, or the imaging device so as to substantially correct the detected deviation from the predetermined position or the predetermined size of the target, wherein the one or more processors, individually or collectively, make a determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device, wherein said determination is dependent upon a) a navigation path of the UAV;
- or b) a maximum linear speed allowable for the UAV.
An apparatus for controlling an unmanned aerial vehicle (UAV), comprising:
- a display configured to display one or more images captured by an imaging device coupled to the UAV;
- an input device configured to receive a user selection of a target from within at least one of the one or more images being displayed on the display;
- one or more processors, individually or collectively, configured to generate target information of the target based at least in part on the user selection of the target;
- and
- a transmitter configured to provide the target information to the UAV so as to allow the UAV to autonomously track the target according to the target information, wherein the one or more processors, individually or collectively, make a determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device, wherein said determination is dependent upon a) number of rotational axes of the imaging device and orientation of said rotational axes relative to the UAV;
- b) a navigation path of the UAV;
- or c) a maximum angular speed allowable for the UAV or the imaging device.
A system for controlling an unmanned aerial vehicle (UAV), comprising:
- a receiver configured to receive, in substantially real-time, one or more images captured by an imaging device coupled to the UAV;
- an input device configured to receive user-specified target information of a target including a predetermined position or a predetermined size of a target within an image from the one or more images;
- a transmitter for providing the user-specified target information to the UAV, and the user's input on allocation of control over a tracking process between the user and an onboard processing system of the UAV;
- and
- a display configured to display the one or more images and a tracking indicator associated with the target within the one or more images, the tracking indicator indicating that the target is being tracked by the UAV in substantially real-time according to the user-specified target information.
The system of claim of 26, wherein the system is configured to dynamically adjust the allocation of the control over the tracking process between the user and the UAV based upon a surrounding of the UAV, speed, altitude, computer resource available on board or off board the UAV.
Dependencies are inferred from the claim text.