公开(公告)号：US11242953B2

公开(公告)日：2022-02-08

申请号：US16673316

申请日：2019-11-04

Applicant: GoPro, Inc.

Inventor： Thomas Gubler ,  Pascal Gohl

IPC: F16M13/02 ,  F16M11/04 ,  H04N5/225 ,  F16M11/12 ,  F16M11/18 ,  F16M13/04 ,  B64D47/08 ,  G05D1/00 ,  H04N5/232 ,  B64C39/02 ,  G03B17/56 ,  H04N17/00

Abstract: The disclosure describes systems and methods for calibrating an image stabilization mechanism. One method includes a control system sending a command to thermally condition one or more sensors to a predetermined temperature. During thermal conditioning to the predetermined temperature, the control system sends a command to drive one or more motors of the image stabilization mechanism to cause movement of an imaging device coupled to the image stabilization mechanism. After thermal conditioning to the predetermined temperature, the control system sends a command to stop driving the one or more motors of the image stabilization mechanism to stop movement of the imaging device coupled to the image stabilization mechanism. After stopping the driving of the one or more motors, the control system sends a command to calibrate the one or more sensors.

公开(公告)号：US20220027772A1

公开(公告)日：2022-01-27

申请号：US17400091

申请日：2021-08-11

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Sammy Omari

IPC: G06N7/00 ,  G08G5/04 ,  G08G5/00 ,  B64C39/02

Abstract: This disclosure relates to systems and methods for determining predicted risk for a flight path of an unmanned aerial vehicle. A previously stored three-dimensional representation of a user-selected location may be obtained. The three-dimensional representation may be derived from depth maps of the user-selected location generated during previous unmanned aerial vehicle flights. The three-dimensional representation may reflect a presence of objects and object existence accuracies for the individual objects. The object existence accuracies for the individual objects may provide information about accuracy of existence of the individual objects within the user-selected location. A user-created flight path may be obtained for a future unmanned aerial flight within the three-dimensional representation of the user-selected location. Predicted risk may be determined for individual portions of the user-created flight path based upon the three-dimensional representation of the user-selected location.

公开(公告)号：US10992866B2

公开(公告)日：2021-04-27

申请号：US16674414

申请日：2019-11-05

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Thomas Gubler ,  Axel Murguet ,  Garance Bruneau

IPC: H04N5/232

Abstract: A method for stabilizing an imaging device with an image stabilization device includes setting a setpoint of the imaging device to a default setpoint, the setpoint corresponds to an orientation of the imaging device; stabilizing the imaging device with the image stabilization device according to the default setpoint; determining whether a flip condition exists; in response to determining that the flip condition exists, stopping operation of the image stabilization device so that the default setpoint is no longer maintained and the imaging device is not stabilized; and in response to determining that the flip condition does not exist, maintaining the default setpoint to stabilize the imaging device.

公开(公告)号：US10666868B2

公开(公告)日：2020-05-26

申请号：US16438791

申请日：2019-06-12

Applicant: GoPro, Inc.

Inventor： Thomas Gubler ,  Garance Bruneau ,  Axel Murguet ,  Pascal Gohl

IPC: H04N5/232 ,  B64C39/02 ,  B64D47/08 ,  G01C21/18 ,  G03B15/00 ,  G03B17/56

Abstract: An aerial vehicle platform includes an aerial vehicle, a gimbal coupled to the aerial vehicle, and a camera mounted to the gimbal. An attitude sensing system includes an inertial measurement unit to sense attitude and an attitude adjustment module to generate an attitude adjustment for adjusting the sensed attitude to compensate for drift error.

公开(公告)号：US20200084359A1

公开(公告)日：2020-03-12

申请号：US16674414

申请日：2019-11-05

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Thomas Gubler ,  Axel Murguet ,  Garance Bruneau

IPC: H04N5/232

Abstract: A method for stabilizing an imaging device with an image stabilization device includes setting a setpoint of the imaging device to a default setpoint, the setpoint corresponds to an orientation of the imaging device; stabilizing the imaging device with the image stabilization device according to the default setpoint; determining whether a flip condition exists; in response to determining that the flip condition exists, stopping operation of the image stabilization device so that the default setpoint is no longer maintained and the imaging device is not stabilized; and in response to determining that the flip condition does not exist, maintaining the default setpoint to stabilize the imaging device.

公开(公告)号：US20200036873A1

公开(公告)日：2020-01-30

申请号：US16288427

申请日：2019-02-28

Applicant: GoPro, Inc.

Inventor： Himay Shukla ,  Kielan Crow ,  Pascal Gohl

IPC: H04N5/225 ,  H04N5/232 ,  G03B17/56

Abstract: In one aspect of the present disclosure, a module is disclosed for use with a digital image capturing device (DICD) including an integrated sensor-lens assembly (ISLA). The module includes a cradle configured for connection to a housing of the DICD, and at least one dampener that is configured for positioning between the module and the housing of the DICD to reduce vibrations transmitted to the ISLA.

公开(公告)号：US20190215451A1

公开(公告)日：2019-07-11

申请号：US15906726

申请日：2018-02-27

Applicant: GoPro, Inc.

Inventor： Joseph A. Enke ,  Kielan C. Crow ,  Pascal Gohl

IPC: H04N5/232 ,  G08B21/18

Abstract: The disclosure describes systems and methods for a stabilization mechanism. The stabilization mechanism may be used in conjunction with an imaging device. The method may be performed by a control system of the stabilization mechanism and includes obtaining a device setting from an imaging device. The method may also include obtaining a configuration of the stabilization mechanism. The method includes determining a soft stop based on the device setting, the configuration, or both. The soft stop may be a virtual hard stop that indicates to the stabilization mechanism to reduce speed as a field of view of the imaging device approaches the soft stop. The method may also include setting an image stabilization mechanism parameter based on the determined soft stop.

公开(公告)号：US20190182424A1

公开(公告)日：2019-06-13

申请号：US15837263

申请日：2017-12-11

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Pascal Gohl ,  Joseph A. Enke ,  Stepan Moskovchenko ,  Benjamin P. Tankersley

IPC: H04N5/232

Abstract: Systems and methods are disclosed for image signal processing. For example, methods may include determining an orientation setpoint for an image sensor; based on a sequence of orientation estimates for the image sensor and the orientation setpoint, invoking a mechanical stabilization system to adjust an orientation of the image sensor toward the orientation setpoint; receiving an image from the image sensor; determining an orientation error between the orientation of the image sensor and the orientation setpoint during capture of the image; based on the orientation error, invoking an electronic image stabilization module to correct the image for a rotation corresponding to the orientation error to obtain a stabilized image; and storing, displaying, or transmitting an output image based on the stabilized image.

公开(公告)号：US12078991B2

公开(公告)日：2024-09-03

申请号：US17354326

申请日：2021-06-22

Applicant: GoPro, Inc.

Inventor： Sammy Omari ,  Pascal Gohl ,  Axel Murguet ,  Garance Bruneau ,  Fabio Diem ,  Lukas Schmid

IPC: G05D1/00 ,  B64C39/02 ,  B64U30/20 ,  G06T7/73 ,  G06T7/80 ,  H04N7/18 ,  B64U10/14 ,  B64U20/87 ,  B64U101/30

CPC classification number: G05D1/0094 ,  G05D1/0022 ,  G05D1/0038 ,  G06T7/74 ,  G06T7/80 ,  H04N7/185 ,  B64U10/14 ,  B64U20/87 ,  B64U2101/30 ,  B64U2201/10 ,  B64U2201/20 ,  G06T2207/10032 ,  G06T2207/30244

Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object orientation data.

公开(公告)号：US20210235002A1

公开(公告)日：2021-07-29

申请号：US17231144

申请日：2021-04-15

Applicant: GoPro, Inc.

Inventor： Pascal Gohl ,  Thomas Gubler ,  Axel Murguet ,  Garance Bruneau

IPC: H04N5/232

Abstract: Stabilizing an image capture device includes stabilizing the image capture device as the image capture device captures images; responsive to detecting an exceptional activity, stopping the stabilizing of the image capture device; and after the exceptional activity is completed, stabilizing the image capture device again. An image stabilization device for stabilizing an imaging device includes a processor that is configured to set at least one of a pitch angle or a roll angle of the image stabilization device to respective constant values and allow a yaw angle of the image stabilization device to vary; while the yaw angle is less than a threshold angle, maintain the yaw angle at a constant relative to a reference platform; when the yaw angle reaches the threshold angle, stop keeping the yaw angle relative to a reference platform constant; and set the yaw angle to follow a direction of motion of the reference platform.