US 11,892,812 B1
Gimbal adjustment method, gimbal adjustment device, mobile platform and storage medium
You Zhou, Shenzhen (CN); Jie Liu, Shenzhen (CN); and Changchun Ye, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on May 14, 2021, as Appl. No. 17/302,922.
Application 17/302,922 is a continuation of application No. PCT/CN2018/116439, filed on Nov. 20, 2018.
Int. Cl. G05B 19/19 (2006.01); F16M 11/18 (2006.01); F16M 11/12 (2006.01); G05D 3/20 (2006.01); G05D 1/00 (2006.01)
CPC G05B 19/19 (2013.01) [F16M 11/123 (2013.01); F16M 11/18 (2013.01); G05D 3/20 (2013.01); G05D 1/0094 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A gimbal adjustment method comprising:
obtaining a reference image frame sequence and a reference shooting trajectory formed by a movement of a mobile platform when shooting the reference image frame sequence, the reference image frame sequence including two or more reference image frames, the mobile platform including a gimbal and an imaging assembly;
estimating a shooting angle based on the reference shooting trajectory, and adjusting the gimbal based on an estimated shooting angle during an image re-shooting;
obtaining a current image frame; and
determining an amount of adjustment control of the gimbal based on the current image frame and the reference image frame sequence, and adjusting the gimbal based on the amount of adjustment control.