US 12,236,612 B2
Methods and system for multi-target tracking
Jie Qian, Shenzhen (CN); Hongda Wang, Shenzhen (CN); and Qifeng Wu, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., TD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Jul. 17, 2023, as Appl. No. 18/353,330.
Application 18/353,330 is a continuation of application No. 16/720,929, filed on Dec. 19, 2019, granted, now 11,704,812.
Application 16/720,929 is a continuation of application No. PCT/CN2018/073664, filed on Jan. 22, 2018.
Prior Publication US 2023/0360230 A1, Nov. 9, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/20 (2017.01); G01S 3/786 (2006.01); G05D 1/00 (2006.01); B64U 101/30 (2023.01)
CPC G06T 7/20 (2013.01) [G01S 3/7864 (2013.01); G05D 1/0094 (2013.01); B64U 2101/30 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for tracking multiple targets, comprising:
identifying a primary target from a plurality of targets based on a plurality of images obtained from an imaging device carried by an aerial vehicle via a carrier;
determining a target group including two or more targets from the plurality of targets, the primary target being always in the target group, and determining the target group including:
determining one or more remaining targets in the target group based on a spatial relationship or a relative distance between the primary target and each target of the plurality of targets other than the primary target; and
controlling at least one of the aerial vehicle or the carrier to track the target group as a whole.