Abstract: A method for sensing an environment in which an unmanned aerial vehicle (UAV) is configured to operate includes, with aid of one or more processors onboard the UAV individually or collectively, obtaining video data of the environment that is collected using a binocular video camera mounted in a forward-looking direction of the UAV, encoding the video data to generate stereoscopic video data, and transmitting the stereoscopic video data to a terminal remote to the movable object.

Abstract: Methods and associated systems and apparatus for controlling a moveable device are disclosed herein. The moveable device includes an image-collection component and a distance-measurement component. A representative method includes generating an image corresponding to the operator and generating a first set of distance information corresponding to the operator. The method identifies a portion of the image in the generated image and then retrieves a second set of distance information from the first set of distance information based on the identified image portion corresponding to the operator. The method then identifies a gesture associated with the operator based on the second set of distance information. The method then further generates an instruction for controlling the moveable device based on the gesture.

Abstract: An imaging control method includes receiving a starting instruction including a flight mode of an unmanned aerial vehicle (“UAV”). The imaging control method also includes controlling the UAV to fly autonomously based on the flight mode. The imaging control method also includes obtaining, in the flight mode, location information of a target object, and obtaining orientation information of the target object relative to the UAV based on the target object recognized from an image captured by an imaging device carried by a gimbal mounted on the UAV. The imaging control method further includes controlling a flight path of the UAV based on the location information and the flight mode, controlling an attitude of the gimbal to render the target object to appear in the image, and controlling the imaging device to record a video in the flight mode, and to transmit video data to a terminal.

Abstract: A method for generating a first person view (FPV) of an environment includes, with aid of one or more processors individually or collectively, analyzing stereoscopic video data of the environment to determine environmental information and generating augmented stereoscopic video data of the environment by fusing the stereoscopic video data and the environmental information.

Abstract: An unmanned aerial vehicle (UAV) includes a power device communicatively configured to provide power for the UAV and one or more processors coupled to the power device. The one or more processors are configured to obtain a flight velocity of the UAV corresponding to the power, obtain an image frame as a keyframe in response to that the flight velocity satisfies a preset condition, and control the UAV to hover using the keyframe as a reference object.

Abstract: A method for controlling target tracking includes determining whether a tracking mode of a movable object is a manual tracking mode or an automatic tracking mode; when it is determined that the tracking mode is the manual tracking mode, determining a target for the movable object from one or more images based on a user input; when it is determined that the tracking mode is the automatic tracking mode, having the movable object determine the target automatically; and directing the movable object to track a target object using the target.

Abstract: Methods and associated systems and apparatus for controlling a moveable device are disclosed herein. The moveable device includes an image-collection component and a distance-measurement component. A representative method includes generating an image corresponding to the operator and generating a first set of distance information corresponding to the operator. The method identifies a portion of the image in the generated image and then retrieves a second set of distance information from the first set of distance information based on the identified image portion corresponding to the operator. The method then identifies a gesture associated with the operator based on the second set of distance information. The method then further generates an instruction for controlling the moveable device based on the gesture.

Abstract: A method for processing video data of an environment includes, with aid of one or more processors individually or collectively, obtaining in or near real-time a reference position of an imaging device located on a movable object based on one or more previously traversed positions of the imaging device, and modifying an image frame in the video data to obtain a modified image frame based on the reference position of the imaging device and an actual position of the imaging device at which the image frame is taken. The one or more previously traversed positions are obtained using at least one sensor on the movable object. The video data is acquired by the imaging device.

Abstract: A method for in-line sensor calibration are provided, comprising: obtaining sensor data from a plurality of sensors of different types coupled to an unmanned aerial vehicle (UAV) while the UAV is in flight, wherein the plurality of sensors have an initial spatial configuration relative to one another; detecting, with aid of a processor, a change in a spatial configuration of the plurality of sensors relative to one another from the initial spatial configuration to a subsequent spatial configuration, based on the sensor data; determining the subsequent spatial configuration; and adjusting data, while the UAV is in flight, from at least one of the plurality of sensors based on the subsequent spatial configuration. The disclosure also relates to an apparatus for sensor calibration.

Abstract: A system for controlling an unmanned aerial vehicle (UAV) in an environment includes one or more processors configured to receive sensor data from one or more sensors carried by the UAV where the sensor data is indicative of an obstacle density of the environment, select a set of current operating rules for the UAV based on the sensor data, and determine a set of final operating rules to control the UAV based on the set of current operating rules and one or more sets of previously determined operating rules.

Abstract: A system for controlling an unmanned aerial vehicle (UAV) includes a first user interface configured to receive a first user input and a second user interface configured to receive a second user input. The first user input provides one or more instructions to effect an autonomous flight of the UAV. The second user input provides one or more instructions to modify the autonomous flight of the UAV, The autonomous flight includes a flight towards a target.

Abstract: A method for controlling an unmanned aerial vehicle (UAV) includes receiving, by a processor of the UAV, a plurality of images captured by an imaging device coupled to the UAV, identifying, by the processor, a target in at least one image of the plurality of images, determining, by the processor, whether the target is a stationary target or a moving target based on analyzing the plurality of images, and automatically effecting, by the processor, movement of the UAV based on determining the target is the stationary target or the moving target.

Abstract: A method for supporting target tracking includes obtaining a feature model for a target that represents imagery characteristics of the target, extracting one or more features from one or more images captured by an imaging device carried by a movable object, and applying the feature model on the one or more features to determine similarity between the one or more features and the feature model.

Abstract: A method for determining an external state of an unmanned aerial vehicle (UAV) includes obtaining historical external state information of the UAV, obtaining a current image and a historical image captured before the current image, predicting a matching feature point in the current image that corresponds to a target feature point in the historical image according the historical external state information, and determining the external state of the UAV based on the matching feature point.

Abstract: A system for detecting objects using ultrasonic waves and methods for making and using the same are provided. The object detection system uniquely encodes each of a plurality of ultrasonic waves and transmit each of the uniquely-encoded ultrasonic waves in a respective direction. The object detection system then receives any of the emitted uniquely-encoded ultrasonic waves that are reflected from an object. By decoding the reflected ultrasonic waves, the object detection system distinguishes among the uniquely-encoded ultrasonic waves and detect the existence and location of the object.

Abstract: An unmanned aerial vehicle (UAV) includes a power device communicatively configured to provide power for the UAV and one or more processors coupled to the power device. The one or more processors are configured to obtain a flight velocity of the UAV corresponding to the power, obtain an image frame as a keyframe in response to that the flight velocity satisfies a preset condition, and control the UAV to hover using the keyframe as a reference object.

Abstract: Systems and methods for controlling an unmanned aerial vehicle within an environment are provided. In one aspect, a system comprises one or more sensors carried on the unmanned aerial vehicle and configured to receive sensor data of the environment and one or more processors. The one or more processors may be individually or collectively configured to: determine, based on the sensor data, an environmental complexity factor representative of an obstacle density for the environment; determine, based on the environmental complexity factor, one or more operating rules for the unmanned aerial vehicle; receive a signal indicating a desired movement of the unmanned aerial vehicle; and cause the unmanned aerial vehicle to move in accordance with the signal while complying with the one or more operating rules.

Abstract: A method of using an unmanned aerial vehicle (UAV) to guide a target includes receiving a location signal from one or more sensors of the UAV, receiving an input signal from a user device for guiding the target that defines at least one of a travel route, a permissible region, or an impermissible region, comparing the location signal to the input signal to determine whether the target is deviating from the travel route, exiting the permissible region, or entering the impermissible region, and initiating, via the UAV or an attachment mechanism coupled between the UAV and the target, a deterrent mechanism in response to determining that the target is deviating from the travel route, exiting the permissible region, or entering the impermissible region.

Abstract: A baseline adjustment method includes acquiring a first image of an object by a first imaging device of an imaging apparatus, acquiring a second image of the object by a second imaging device of the imaging apparatus, determining a binocular disparity between the first and second image and determining an object distance based at least on the binocular disparity by the controller, and automatically adjusting a baseline according to the object distance by a baseline adjustment mechanism. The object distance represents a distance between the imaging apparatus and the object. The baseline represents a relative distance between the first and second imaging device. The baseline is being adjusted to fall within a range approximately between a minimum and a maximum baseline. The maximum baseline is defined by the object distance and an angle-of-view of at least one of the first or the second imaging device.

Abstract: A method of controlling an unmanned aerial vehicle (UAV) in an environment includes detecting, with aid of a sensor coupled to the UAV and while the UAV is in flight, a signal that is emitted from and uniquely identifying a locating marker; determining, with aid of a processor, a sequence of actions to control the UAV in response to a plurality of instructions encoded in the locating marker and communicated by the signal; and controlling, with aid of the processor, the UAV to effect the sequence of actions according to a specified time interval included in the plurality of instructions. The specified time interval indicates a wait time before the UAV effects the sequence of actions.