US Patent No. 10,621,456

DISTANCE MEASUREMENT METHOD AND APPARATUS, AND UNMANNED AERIAL VEHICLE


Patent No. 10,621,456
Issue Date April 14, 2020
Title Distance Measurement Method And Apparatus, And Unmanned Aerial Vehicle
Inventorship Ke Zhang, Guangdong (CN)
Bo Zang, Guangdong (CN)
Assignee AUTEL ROBOTICS CO., LTD., Shenzhen, Guangdon (CN)

Claim of US Patent No. 10,621,456

1. A distance measurement method, wherein the method comprises:obtaining two neighboring frames of images that are photographed by the unmanned aerial vehicle;
determining a first region of interest (ROI) of each of the two neighboring frames of images;
determining that an unmanned aerial vehicle cannot determine a distance between the unmanned aerial vehicle and a target in a flight direction of the unmanned aerial vehicle by using a stereo matching method;
enlarging the first ROI of each of the two neighboring frames of images, to form a second ROI;
respectively extracting foregrounds in the second ROIs from the two neighboring frames of images; and
determining the distance between the unmanned aerial vehicle and the target according to the foregrounds respectively extracted from the two neighboring frames of images;
wherein the method further comprises:
determining whether at least two targets exist in the foreground; and
if yes, determining that one of the at least two targets is a detection object; and
the determining the distance between the unmanned aerial vehicle and the target according to the foregrounds respectively extracted from the two neighboring frames of images comprises:
determining a distance between the unmanned aerial vehicle and the detection object according to the foregrounds respectively extracted from the two neighboring frames of images.