US 12,078,991 B2
Relative image capture device orientation calibration
Sammy Omari, Zurich (CH); Pascal Gohl, Winterthur (CH); Axel Murguet, Zurich (CH); Garance Bruneau, Zurich (CH); Fabio Diem, Zurich (CH); and Lukas Schmid, Zurich (CH)
Assigned to GoPro, Inc., San Mateo, CA (US)
Filed by GoPro, Inc., San Mateo, CA (US)
Filed on Jun. 22, 2021, as Appl. No. 17/354,326.
Application 17/354,326 is a continuation of application No. 15/906,738, filed on Feb. 27, 2018, granted, now 11,048,257.
Claims priority of provisional application 62/620,771, filed on Jan. 23, 2018.
Prior Publication US 2021/0389764 A1, Dec. 16, 2021
Int. Cl. G05D 1/00 (2024.01); B64C 39/02 (2023.01); B64U 30/20 (2023.01); G06T 7/73 (2017.01); G06T 7/80 (2017.01); H04N 7/18 (2006.01); B64U 10/14 (2023.01); B64U 20/87 (2023.01); B64U 101/30 (2023.01)
CPC G05D 1/0094 (2013.01) [G05D 1/0022 (2013.01); G05D 1/0038 (2013.01); G06T 7/74 (2017.01); G06T 7/80 (2017.01); H04N 7/185 (2013.01); B64U 10/14 (2023.01); B64U 20/87 (2023.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01); B64U 2201/20 (2023.01); G06T 2207/10032 (2013.01); G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An unmanned aerial vehicle, comprising:
a fixed orientation image capture device;
an adjustable orientation image capture device;
a processor configured to execute instructions stored on a non-transitory computer readable medium to:
obtain a first image from the fixed orientation image capture device,
obtain a second image from the adjustable orientation image capture device,
obtain relative object orientation data based on a spatial correlation of an external object within the first image and the second image, wherein the spatial correlation includes a location of the external object in the first image relative to a location of the external object in the second image, the relative object orientation data representing a three-dimensional orientation of the external object relative to the adjustable orientation image capture device, and
determine relative velocity data based upon comparing the first image captured by the fixed orientation image capture device and the second image captured by the adjustable orientation image capture device; and
a controller configured to control a trajectory and velocity of the unmanned aerial vehicle based on the relative object orientation data and the relative velocity data of the external object to track or avoid the external object.