UAV panoramic imaging

Patent metadata

Field	Value
Publication number	US-11949992-B2
Application number	US-202217740004-A
Country	US
Kind code	B2
Filing date	May 9, 2022
Priority date	Dec 23, 2014
Publication date	Apr 2, 2024
Grant date	Apr 2, 2024

Abstract

A method includes in response to receiving an instruction for starting a panoramic mode, controlling an unmanned aerial vehicle (UAV) to hover at or near a predetermined location; while the UAV is hovering at or near the predetermined location, causing an image capturing device to capture a plurality of images by controlling a carrier that couples the image capturing device to the UAV to rotate the image capturing device about a first axis of the carrier; and stabilizing the image capturing device against motions with respect to a second axis or a third axis of the carrier while the image capturing device is rotating about the first axis of the carrier.

First claim

What is claimed is:

1. A method for generating panoramic images, comprising:
in response to receiving an instruction for starting a panoramic mode, controlling an unmanned aerial vehicle (UAV) to hover at or near a predetermined location;
while the UAV is hovering at or near the predetermined location, causing an image capturing device to capture a plurality of images by controlling a carrier that couples the image capturing device to the UAV to rotate the image capturing device about a first axis of the carrier; and
stabilizing the image capturing device against motions with respect to a second axis or a third axis of the carrier while the image capturing device is rotating about the first axis of the carrier.

2. The method of claim 1 , further comprising:
obtaining one or more panoramic image processing parameters for generating a panoramic image;
wherein causing the image capturing device to capture the plurality of images includes controlling the image capturing device to capture the plurality of images based at least in part on the one or more panoramic image processing parameters.

3. The method of claim 2 , wherein the one or more panoramic image processing parameters include at least one of a time interval between adjacent images of the plurality of images, a field of view (FOV) angle of the image capturing device, an overlapping angle between the adjacent images of the plurality of images, a rotation angle between the adjacent images of the plurality of images, an overall FOV angle of the panoramic image, a total number of the plurality of images to capture, an overlap percentage between the adjacent images of the plurality of images, or a characteristic associated with the image capturing device including a depth of view, a focal length, or a zoom level.

4. The method of claim 1 , further comprising:
determining a state of the carrier based on carrier sensor data from one or more carrier sensors coupled to the carrier;
wherein stabilizing the image capturing device against the motions with respect to the second axis or the third axis of the carrier includes:
stabilizing the image capturing device against the motions with respect to the second axis or the third axis of the carrier by adjusting the carrier based on the state of the carrier.

5. The method of claim 4 , wherein the one or more carrier sensors include at least one of a motion sensor, a rotation sensor, an inertial sensor, or a potentiometer.

6. The method of claim 4 , wherein the state of the carrier includes at least one of a spatial disposition, a velocity, or an acceleration of the carrier while the image capturing device is rotating about the first axis of the carrier.

7. The method of claim 1 , wherein stabilizing the image capturing device against the motions with respect to the second axis or the third axis of the carrier includes:
stabilizing the image capturing device against the motions with respect to the second axis or the third axis of the carrier via one or more damping members disposed between the UAV and the carrier or disposed within the image capturing device.

8. The method of claim 1 , further comprising:
generating a panoramic image based on the plurality of images.

9. The method of claim 8 , wherein generating the panoramic image based on the plurality of images includes:
generating the panoramic image by stitching the plurality of images.

10. The method of claim 9 , wherein stitching the plurality of images includes at least one of image registration, global registration, or blending.

11. The method of claim 9 , wherein stitching the plurality of images includes:
conducting image stitching after a second one of the plurality of images is captured until a last one of the plurality of images is captured.

12. The method of claim 9 , wherein stitching the plurality of images includes:
conducting image stitching within a time interval between capturing each two adjacent images of the plurality of images.

13. The method of claim 9 , wherein stitching the plurality of images includes:
conducting image stitching after a last image of the plurality of images is captured.

14. An unmanned aerial vehicle (UAV), comprising:
one or more processors; and
a memory that stores one or more computer-executable instructions, wherein the one or more computer-executable instructions, when accessed and executed, cause the one or more processors to:
in response to receiving an instruction for starting a panoramic mode, control the UAV to hover at or near a predetermined location;
while the UAV is hovering at or near the predetermined location, cause an image capturing device to capture a plurality of images by controlling a carrier that couples the image capturing device to the UAV to rotate the image capturing device about a first axis of the carrier; and
stabilize the image capturing device against motions with respect to a second axis or a third axis of the carrier while the image capturing device is rotating about the first axis of the carrier.

15. The UAV of claim 14 , wherein the one or more computer-executable instructions, when accessed and executed, further cause the one or more processors to:
obtain one or more panoramic image processing parameters for generating a panoramic image; and
cause the image capturing device to capture the plurality of images based at least in part on the one or more panoramic image processing parameters.

16. The UAV of claim 15 , wherein the one or more panoramic image processing parameters include at least one of a time interval between adjacent images of the plurality of images, a field of view (FOV) angle of the image capturing device, an overlapping angle between the adjacent images of the plurality of images, a rotation angle between the adjacent images of the plurality of images, an overall FOV angle of the panoramic image, a total number of the plurality of images to capture, an overlap percentage between the adjacent images of the plurality of images, or a characteristic associated with the image capturing device including a depth of view, a focal length, or a zoom level.

17. The UAV of claim 14 , wherein the one or more computer-executable instructions, when accessed and executed, further cause the one or more processors to:
determine a state of the carrier based on carrier sensor data from one or more carrier sensors coupled to the carrier; and
stabilize the image capturing device against the motions with respect to the second axis or the third axis of the carrier by adjusting the carrier based on the state of the carrier.

18. The UAV of claim 17 , wherein the one or more carrier sensors include at least one of a motion sensor, a rotation sensor, an inertial sensor, or a potentiometer.

19. The UAV of claim 17 , wherein the state of the carrier includes at least one of a spatial disposition, a velocity, or an acceleration of the carrier while the image capturing device is rotating about the first axis of the carrier.

20. The UAV of claim 14 , wherein the one or more computer-executable instructions, when accessed and executed, further cause the one or more processors to:
stabilize the image capturing device against the motions with respect to the second axis or the third axis of the carrier via one or more damping members disposed between the UAV and the carrier or disposed within the image capturing device.

Assignees

• Sz Dji Osmo Technology Co Ltd

Inventors

• Wang Mingyu
• Cao Zisheng
• Liang Taiwen
• Yu Lifu

Classifications

• B64U20/87

  Mounting of imaging devices, e.g. mounting of gimbals · CPC title

• H04N23/698 Primary

  for achieving an enlarged field of view, e.g. panoramic image capture · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• B64D47/08

  Arrangements of cameras · CPC title

• H04N23/682

  Vibration or motion blur correction · CPC title