System and method for supporting smooth target following
First Claim
Patent Images
1. A method for supporting target tracking, comprising:
- acquiring a target from one or more images, which are captured by an imaging device that is carried by a movable object, including;
obtaining a plurality of object proposal candidates;
comparing aspect ratios of the object proposal candidates with an aspect ratio of an initial object bounding box to filter out object proposal candidates that have an aspect ratio out of a certain range;
calculating a correlation in a spatial domain for remaining object proposal candidates;
selecting one of the remaining object proposal candidates as a bounding box based on the correlation; and
using the bounding box to define the target in said one or more images;
obtaining a relative distance between the movable object and the target; and
generating, based on the relative distance, one or more control signals to direct the movable object to track the target.
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Abstract
A method for supporting target tracking includes acquiring a target from one or more images captured by an imaging device carried by a movable object, obtaining a relative distance between the movable object and the target, and generating one or more control signals based on the relative distance to direct the movable object to track the target.
28 Citations
26 Claims
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1. A method for supporting target tracking, comprising:
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acquiring a target from one or more images, which are captured by an imaging device that is carried by a movable object, including; obtaining a plurality of object proposal candidates; comparing aspect ratios of the object proposal candidates with an aspect ratio of an initial object bounding box to filter out object proposal candidates that have an aspect ratio out of a certain range; calculating a correlation in a spatial domain for remaining object proposal candidates; selecting one of the remaining object proposal candidates as a bounding box based on the correlation; and using the bounding box to define the target in said one or more images; obtaining a relative distance between the movable object and the target; and generating, based on the relative distance, one or more control signals to direct the movable object to track the target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for supporting target tracking, comprising:
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one or more microprocessors; and a controller running on the one or more microprocessors, wherein the controller operates to acquire a target from one or more images, which are captured by an imaging device that is carried by a movable object, including; obtaining a plurality of object proposal candidates; comparing aspect ratios of the object proposal candidates with an aspect ratio of an initial object bounding box to filter out object proposal candidates that have an aspect ratio out of a certain range; calculating a correlation in a spatial domain for remaining object proposal candidates; selecting one of the remaining object proposal candidates as a bounding box based on the correlation; and using the bounding box to define the target in said one or more images; obtain a relative distance between the movable object and the target; and generate, based on the relative distance, one or more control signals to direct the movable object to track the target. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A non-transitory computer-readable medium with instructions stored thereon, that when executed by a processor, perform the steps comprising:
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acquiring a target from one or more images, which are captured by an imaging device that is carried by a movable object, including; obtaining a plurality of object proposal candidates; comparing aspect ratios of the object proposal candidates with an aspect ratio of an initial object bounding box to filter out object proposal candidates that have an aspect ratio out of a certain range; calculating a correlation in a spatial domain for remaining object proposal candidates; selecting one of the remaining object proposal candidates as a bounding box based on the correlation; and using the bounding box to define the target in said one or more images; obtaining a relative distance between the movable object and the target; and generating, based on the relative distance, one or more control signals to direct the movable object to track the target.
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26. A system for supporting first person view (FPV), comprising:
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an imaging device on a movable object, wherein the imaging device operates to capture one or more images; and wherein the movable object operates to acquire a target from said one or more images, including; obtaining a plurality of object proposal candidates; comparing aspect ratios of the object proposal candidates with an aspect ratio of an initial object bounding box to filter out object proposal candidates that have an aspect ratio out of a certain range; calculating a correlation in a spatial domain for remaining object proposal candidates; selecting one of the remaining object proposal candidates as a bounding box based on the correlation; and using the bounding box to define the target in said one or more images; obtain the relative distance between the movable object and the target; and generate, based on the relative distance, one or more control signals to direct the movable object to track the target.
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Specification