Pixel based image tracking system for unmanned aerial vehicle (UAV) action camera system

摘要

An unmanned aerial vehicle (UAV) may select a subject to track or follow and capture images including the subject. A visual recognition system of the UAV may generate a profile of reference images portraying the subject breaking the reference images down into pixel sets corresponding to the subject and his/her components and distinguishing characteristics (body parts, clothing, facial features, accessories). The visual recognition system may break the incoming stream of incoming images into pixel sets, analyzing the pixel sets to distinguish the subject from his/her surroundings (i.e., in a crowd) and determine movement of the subject and the current orientation of the UAV to the subject. The UAV may then change its heading, velocity, or position based on any difference between the current orientation and the desired or predetermined orientation between the UAV and the subject.

主权项

1. An unmanned aerial vehicle (UAV), comprising:
an airframe, at least one rotor fixed to the airframe, the at least one rotor configured to rotate at least one rotor speed; an attitude control system coupled to the at least one rotor, the attitude control system configured to adjust the at least one rotor speed; at least one camera configured to capture one or more images, the one or more images including at least one first image associated with a first orientation of the subject and the UAV and at least one second image associated with a second orientation of the subject and the UAV; a visual recognition system coupled to the at least one camera, the visual recognition system configured to
generate at least one profile associated with a subject, the profile including at least one first pixel set associated with the at least one first image, the at least one first pixel set including at least one first pixel subset;generate at least one second pixel set associated with the at least one second image, the at least one second pixel set including at least one second pixel subset;store in the memory of the UAV at least one of the one or more images and the at least one profile; andcompare the at least one second pixel subset to at least one of a first pixel subset and a second pixel subset; a subject tracking system coupled to the attitude control system, the subject tracking system configured to
follow the subject based on at least at least one third orientation of the subject and the UAV;compare the at least one third orientation of the subject and the UAV with the at least one second orientation of the subject and the UAV; anddirect the attitude control system to adjust at least one rotor speed based on the comparing of the at least one third orientation of the subject and the UAV with the at least one second orientation of the subject and the UAV.