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Title:
SYSTEMS AND METHODS FOR DETECTING AND TRACKING MOVABLE OBJECTS
Document Type and Number:
WIPO Patent Application WO/2017/041303
Kind Code:
A1
Abstract:
Systems, methods and devices are provided herein for detecting and tracking one or more movable objects. A method for supporting visual tracking may be provided. The method may comprise: receiving a plurality of image frames (112-1,112-2) captured at different times (T1,T2) using an imaging device (110), wherein each image frame comprises a plurality of pixels that are associated with a plurality of feature points; analyzing the plurality of image frames (112-1,112-2) to compute movement characteristics of the plurality of feature points; and identifying at least one tracking feature (216) relative to at least one background feature (214) based on the movement characteristics of the plurality of feature points.

Inventors:
ZHOU YOU (CN)
ZHAO CONG (CN)
TANG KETAN (CN)
YAN JIAQI (CN)
Application Number:
CN2015/089464
Publication Date:
March 16, 2017
Filing Date:
September 11, 2015
Export Citation:
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Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
G05D1/12; G06T7/20
Domestic Patent References:
WO2014169354A12014-10-23
Foreign References:
CN103149939A2013-06-12
CN103413444A2013-11-27
CN102355574A2012-02-15
CN104777847A2015-07-15
EP2056059A12009-05-06
EP2701093A12014-02-26
GB2520243A2015-05-20
Other References:
See also references of EP 3347789A4
SADEGHI-TEHRAN POURIA ET AL.: "2014 IEEE Symposium on Evolving and Autonomous Learning Systems (EALS", 9 December 2014, IEEE, article "A real-time approach for autonomous detection and tracking of moving objects from UAV", pages: 43 - 49
HEISELE B. ET AL.: "Obstacle detection based on colour blob flow", INTELLIGENT VEHICLES 1995 SYMPOSIUM, 25 September 1995 (1995-09-25), pages 282 - 286, XP010194130, DOI: 10.1109/IVS.1995.528294
ANDREA GIACHETTI ET AL.: "The Use of Optical Flow for Road Navigation", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, vol. 14, no. 1, 1 February 1998 (1998-02-01), pages 34 - 48, XP011053264
FENG LIN ET AL.: "A Robust Real-Time Embedded Vision System on an Unmanned Rotorcraft for Ground Target Following", IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, vol. 59, no. 2, 1 February 2012 (2012-02-01), pages 1038 - 1049, XP055493035, DOI: 10.1109/TIE.2011.2161248
Attorney, Agent or Firm:
SHENZHEN SCIENBIZIP INTELLECTUAL PROPERTY AGENCY CO., LTD. (No.83 Longguan East Rd. Longhua New Dist.Shenzhen, Guangdong 9, CN)
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