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1. 发明授权

US07411167B2 Tracking a moving object from a camera on a moving platform 有权
标题翻译：从移动平台上的相机跟踪移动物体
公开(公告)号：US07411167B2
公开(公告)日：2008-08-12
申请号：US11470048
申请日：2006-09-05
申请人： Kartik B Ariyur , Saad J. Bedros , Vassilios Morellas
发明人： Kartik B Ariyur , Saad J. Bedros , Vassilios Morellas
IPC分类号： G01J1/20 , G01C21/02
CPC分类号： G06K9/209 , G01S3/7864 , G06K9/32 , G06T7/246 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212
摘要： A method to dynamically stabilize a target image formed on an image plane of an imaging device located in a moving vehicle. The method includes setting an origin in the image plane of the imaging device at an intersection of a first axis, a second axis and a third axis, imaging a target so that an image centroid of the target image is at the origin of the image plane, monitoring sensor data indicative of a motion of the vehicle, and generating pan and tilt output to stabilize the image centroid at the origin in the image plane to compensate for vehicle motion and target motion. The pan and tilt output are generated by implementing exponentially stabilizing control laws. The implementation of the exponentially stabilizing control laws is based at least in part on the sensor data.
摘要翻译：一种动态地稳定形成在位于移动车辆中的成像装置的图像平面上的目标图像的方法。该方法包括在第一轴，第二轴和第三轴的交叉点处将成像装置的图像平面中的原点设置成对目标进行成像，使得目标图像的图像质心处于图像平面的原点监测指示车辆运动的传感器数据，以及产生摇摄和倾斜输出以稳定图像平面中的原点处的图像质心，以补偿车辆运动和目标运动。平移和倾斜输出是通过实现指数稳定控制律来产生的。指数稳定控制定律的实现至少部分地基于传感器数据，包括指示到目标的距离的数据。

2. 发明授权

US07765062B2 Method and system for autonomous tracking of a mobile target by an unmanned aerial vehicle 失效
标题翻译：用于通过无人驾驶飞行器自动跟踪移动目标的方法和系统
公开(公告)号：US07765062B2
公开(公告)日：2010-07-27
申请号：US11380141
申请日：2006-04-25
申请人： Kartik B Ariyur , Kingsley O. C. Fregene
发明人： Kartik B Ariyur , Kingsley O. C. Fregene
IPC分类号： G01C21/00
CPC分类号： G01S3/7864 , G01S13/723 , G05D1/0094
摘要： A method and system for autonomous tracking of a mobile target such as a ground vehicle by an unmanned aerial vehicle are provided. The method and system utilize an approach that tracks a mobile ground target by using a ground vehicle model with an ummanned aerial vehicle model, with velocity and acceleration constraints. These real-world constraints ensure that the method is applicable to a general class of unmanned aerial vehicles and ground targets. One or more sensors are employed on the unmanned aerial vehicle, with the sensors having at least one field-of-view sensing cone over the ground. A position and path of the mobile target are monitored through input from the sensors on the unmanned aerial vehicle. The method and system detect and estimate the position and path of the mobile target when the target is inside the field-of-view sensing cone.
摘要翻译：提供了一种用于通过无人驾驶飞行器自动跟踪诸如地面车辆的移动目标的方法和系统。该方法和系统利用通过使用具有速度和加速度约束的具有无人驾驶飞行器模型的地面车辆模型跟踪移动地面目标的方法。这些现实世界的限制确保了该方法适用于一般无人机和地面目标。在无人驾驶飞行器上采用一个或多个传感器，传感器在地面上具有至少一个视场感测锥。通过来自无人驾驶飞行器上的传感器的输入来监测移动目标的位置和路径。该方法和系统检测并估计当目标在视野内感测锥体内时移动目标的位置和路径。

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