System and method for providing autonomous photography and videography
First Claim
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1. An aerial system, comprising:
- a body;
a lift mechanism coupled to the body;
an optical system including an optical sensor mounted to the body, the optical sensor movable with respect to the body by an actuation system;
an inertial measurement unit (IMU) coupled to the body including a vibration sensor configured to sense a vibration of the body; and
a processing system coupled to the lift mechanism, the optical system, the IMU, and the actuation system, the processing system includes a processor configured to;
establish a desired flight trajectory;
detect a target;
establish a position and a velocity of the target relative to the aerial system;
control the flight of the aerial system to maintain the aerial system at a distance from the target as a function of the desired flight trajectory and the established position and velocity of the target using the lift mechanism;
control the actuation system to automatically adjust an angle of the optical sensor relative to the body to maintain the target within a field of view of the optical sensor during the flight of the aerial system;
control the optical system to capture pictures and/or video;
retrieve a vibration measurement for each time period associated with each captured picture and/or video from the IMU;
select a moving window time interval and calculate a variance/standard deviation of vibration within the moving window time interval; and
automatically select pictures and/or videos by comparing the calculated the variance/standard deviation of vibration to a pre-defined threshold.
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Abstract
An aerial system, including a processing system, an optical system, an actuation system and a lift mechanism, includes an autonomous photography and/or videography system 70, implemented, at least in part, by the processing system 22, the optical system 26, the actuation system 28 and the lift mechanism 32. The autonomous photograph and/or videography system performs the steps of establishing a desired flight trajectory, detecting a target, controlling the flight of the aerial system as a function of the desired flight trajectory relative to the target using the lift mechanism and controlling the camera to capture pictures and/or video.
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Citations
22 Claims
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1. An aerial system, comprising:
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a body; a lift mechanism coupled to the body; an optical system including an optical sensor mounted to the body, the optical sensor movable with respect to the body by an actuation system; an inertial measurement unit (IMU) coupled to the body including a vibration sensor configured to sense a vibration of the body; and a processing system coupled to the lift mechanism, the optical system, the IMU, and the actuation system, the processing system includes a processor configured to; establish a desired flight trajectory; detect a target; establish a position and a velocity of the target relative to the aerial system; control the flight of the aerial system to maintain the aerial system at a distance from the target as a function of the desired flight trajectory and the established position and velocity of the target using the lift mechanism; control the actuation system to automatically adjust an angle of the optical sensor relative to the body to maintain the target within a field of view of the optical sensor during the flight of the aerial system; control the optical system to capture pictures and/or video; retrieve a vibration measurement for each time period associated with each captured picture and/or video from the IMU; select a moving window time interval and calculate a variance/standard deviation of vibration within the moving window time interval; and automatically select pictures and/or videos by comparing the calculated the variance/standard deviation of vibration to a pre-defined threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for operating an aerial system, the aerial system including a body, a lift mechanism, an optical system, and a body, the optical system including an optical sensor mounted to the body and movable with respect to the body by an actuation system, an inertial measurement unit (IMU) coupled to the body including a vibration sensor configured to sense a vibration of the body, and a processing system, method including the steps of:
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establishing, by the processing system, a desired flight trajectory; detecting a target; establishing, by the processing system, a position and a velocity of the target relative to the aerial system; controlling, by the processing system, the flight of the aerial system to maintain the aerial system at a distance from the target as a function of the desired flight trajectory and the established position and velocity of the target using the lift mechanism; controlling, by the processing system, the actuation system to automatically adjust an angle of the optical sensor relative to the body to maintain the target within a field of view of the optical sensor during the flight of the aerial system; controlling, by the processing system, the optical system to capture pictures and/or video retrieving a vibration measurement for each time period associated with each captured picture and/or video from the IMU; selecting a moving window time interval and calculating a variance/standard deviation of vibration within the moving window time interval; and automatically selecting pictures and/or videos by comparing the calculated the variance/standard deviation of vibration to a pre-defined threshold. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification