Granted Patent B2

US 12,487,595 · App. 18/133,395 · Granted Dec 2, 2025

Inventors: Jiexi Du (Shenzhen, CN); Jifei Xu (Shenzhen, CN); Chen Chen (Shenzhen, CN)

Assignee: SZ DJI TECHNOLOGY CO., LTD.

G05D1/0038G05D1/0094G06T7/73G06T7/90G06T17/00G06T19/20G06T2200/04G06T2207/10028G06T2219/2012

Abstract

Claims (55)

1 . A data processing method, implemented by a control apparatus associated with a movable platform, comprising:

obtaining, by the control apparatus, three-dimensional data of at least one sampling point collected by a point cloud sensor carried by the movable platform during a movement of the movable platform;

obtaining, by the control apparatus, first position and attitude data of at least one of the movable platform, or the point cloud sensor during the collecting of the at least one sampling point;

projecting, by the control apparatus, the at least one sampling point onto an observation plane according to the three-dimensional data of the at least one sampling point and the first position and attitude data;

generating, by the control apparatus, a point cloud picture according to the at least one sampling point projected onto the observation plane; and

rendering, by the control apparatus, a user apparatus of the movable platform to display the point cloud picture.

2 . The method according to claim 1 , wherein the projecting of the at least one sampling point onto the observation plane according to the three-dimensional data of the at least one sampling point and the first position and attitude data includes:

determining the observation plane according to the first position and attitude data; and

projecting the at least one sampling point onto the observation plane according to the three-dimensional data.

3 . The method according to claim 1 , wherein the obtaining of the three-dimensional data of the at least one sampling point includes:

controlling the point cloud sensor to collect measurement data of the at least one sampling point in a target scene, wherein the measurement data includes at least one of distance or orientation data of the at least one sampling point relative to the point cloud sensor; and

determining three-dimensional position data of the at least one sampling point in a preset coordinate system according to the measurement data.

4 . The method according to claim 3 , wherein the preset coordinate system is a geographic coordinate system, or a body coordinate system of the movable platform.

5 . The method according to claim 4 , wherein the determining of the three-dimensional position data of the at least one sampling point in the preset coordinate system according to the measurement data includes:

obtaining the first position and attitude data of at least one of the movable platform or the point cloud sensor in the geographic coordinate system during the collecting of the at least one sampling point; and

determining the three-dimensional position data of the at least one sampling point in the geographic coordinate system according to the measurement data and the first position and attitude data in the geographic coordinate system.

6 . The method according to claim 1 , wherein the point cloud picture includes projection of the at least one sampling point.

7 . The method according to claim 1 , further comprising:

obtaining, by the control apparatus, color information of the at least one sampling point projected on the observation plane, wherein

the generating of the point cloud picture according to the at least one sampling point projected onto the observation plane includes:

generating the point cloud picture according to the color information of the at least one sampling point projected on the observation plane.

8 . The method according to claim 7 , wherein

the movable platform further carries a visible light sensor; and

the color information of the at least one sampling point is determined based on a visible light image formed by collecting the target scene by the visible light sensor.

9 . The method according to claim 8 , further comprising:

determining, by the control apparatus, at least one pixel point corresponding to a same object point as the at least one sampling point in the visible light image; and

determining, by the control apparatus, the color information of the at least one sampling point according to a pixel value of the at least one pixel point.

10 . The method according to claim 8 , wherein the visible light sensor is fixedly connected with the point cloud sensor.

11 . The method according to claim 10 , wherein the visible light sensor is fixedly connected with the point cloud sensor and carried on the movable platform via a gimbal structure.

12 . The method according to claim 1 , further comprising:

in response to a marking operation on the user apparatus, obtaining, by the control apparatus, position information and content information of a mark on the point cloud picture;

determining, by the control apparatus, a target sampling point corresponding to the position information of the mark in a three-dimensional model of a target scene according to the position information of the mark; and

storing, by the control apparatus, the content information in association with the target sampling point.

13 . The method according to claim 12 , wherein the content information includes at least one of task information, type information, or status information.

14 . The method according to claim 12 , wherein the target sampling point is one or more sampling points in the three-dimensional model.

15 . The method according to claim 12 , wherein the determining of the target sampling point corresponding to the position information of the mark includes:

determining one or more target sampling points corresponding to the position information of the mark in the three-dimensional model according to the position information of the mark and a projection relationship of a currently displayed point cloud picture.

16 . The method according to claim 15 , wherein

the position information of the mark includes a two-dimensional coordinate position of a point of the marking operation on the observation plane; and

the determining of the one or more target sampling points corresponding to the position information of the mark in the three-dimensional model includes:

starting from the two-dimensional coordinate position on the observation plane, determining a sampling point closest to the observation plane in the three-dimensional model along a preset direction of the observation plane as the one ore more target sampling point.

17 . The method according to claim 1 , further comprising:

in response to a marking operation on the user apparatus, obtaining, by the control apparatus, position information of a mark on the point cloud picture;

determining, by the control apparatus, spatial position information corresponding to the position information of the mark according to the position information of the mark; and

controlling, by the control apparatus, the point cloud sensor to collect three-dimensional data of a sampling point corresponding to the spatial position information.

18 . The method according to claim 1 , further comprising:

in response to a marking operation on the user apparatus, obtaining, by the control apparatus, position information of a mark on the point cloud picture;

determining, by the control apparatus, a plurality of target sampling points corresponding to the position information of the mark in a three-dimensional model of a target scene according to the position information of the mark; and

identifying, by the control apparatus, a target object corresponding to the plurality of target sampling points in the three-dimensional model according to the plurality of target sampling points.

19 . The method according to claim 18 , further comprising:

controlling, by the control apparatus, the movable platform to track the target object identified.

20 . The method according to claim 1 , further comprising:

in response to a framing operation on the user apparatus, obtaining, by the control apparatus, position information of a mark on the point cloud picture;

determining, by the control apparatus, a target sampling point corresponding to the position information of the mark in a three-dimensional model of a target scene according to the position information of the mark; and

displaying, by the control apparatus, measurement data of the target sampling point.

Assignments (1)

Continuity (2)

References Cited (21)