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Unmanned aerial image capture platform

  • US 10,520,943 B2
  • Filed: 08/12/2016
  • Issued: 12/31/2019
  • Est. Priority Date: 08/12/2016
  • Status: Active Grant
First Claim
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1. A method comprising:

  • estimating a motion of an unmanned aerial vehicle (UAV) in autonomous flight through a physical environment based in part on images captured by an image capture device associated with the UAV;

    estimating a motion of a subject in the physical environment based in part on the images captured by the image capture device associated with the UAV;

    generating and continually updating a three-dimensional (3D) map of the physical environment while the UAV is in autonomous flight, the 3D map generated based in part on the images captured by the image capture device associated with the UAV;

    defining, within the 3D map, a virtual line between a virtual representation of an estimated position of the subject and a virtual representation of an estimated position of the UAV; and

    in response to estimating the motions of the UAV and the subject, generating control commands to dynamically adjust image capture of the subject by the image capture device associated with the UAV to satisfy a specified criterion related to a quality of the image capture;

    wherein to satisfy the specified criterion the control commands to dynamically adjust image capture are configured such that, at a given time, the virtual line does not intersect a virtual representation of another physical object.

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