CN107888818A - It is a kind of to carry out target identification and the system and method for target following using hand-held head - Google Patents
It is a kind of to carry out target identification and the system and method for target following using hand-held head Download PDFInfo
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- CN107888818A CN107888818A CN201610863683.2A CN201610863683A CN107888818A CN 107888818 A CN107888818 A CN 107888818A CN 201610863683 A CN201610863683 A CN 201610863683A CN 107888818 A CN107888818 A CN 107888818A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000000605 extraction Methods 0.000 claims description 8
- 230000008676 import Effects 0.000 claims description 6
- 210000003128 head Anatomy 0.000 description 53
- 238000005516 engineering process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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- 238000003384 imaging method Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/24—Aligning, centring, orientation detection or correction of the image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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- Theoretical Computer Science (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
Target identification and the system and method for target following are carried out using hand-held head the invention provides a kind of, the system includes being used for the picture pick-up device for shooting the picture comprising target to be followed and object to be identified；For following the face feature of target and object to be identified than treating, and send the control system for following the hand-held head of instruction control to follow target；For following instruction to move the picture pick-up device in different directions according to, the target to be followed is set to be maintained at the hand-held head in the centre position of picture, realize camera and target identification is carried out to multiple regions, hand-held head is possessed the function that target identification and target follow；Because equipment volume is small, any region can be easily carried to, flexibly realizes and the target identification in each region and target is followed.
Description
Technical field
It is more particularly to a kind of to carry out target identification and target using hand-held head the present invention relates to application of electronic technology field
The system and method for tracking.
Background technology
Target recognition and tracking technology based on image is to utilize imaging system acquired image, automatically extracts or knows
Other respective objects, and it is tracked.The recognition and tracking to target is realized by a series of images data.Real-time
Good, positioning precision is high and the target recognition and tracking method of strong antijamming capability has turned into images steganalysis and tracking technique
Tackling key problem emphasis, has important military affairs, economy and social value.
Part monitoring system has realized the function of target identification at present, but because the camera in monitoring system fixes peace
Loaded on some position, specific region can only be directed to and carry out target identification.And although existing hand-held head can install shooting and set
It is standby, auxiliary is provided for steady shot, but do not possess the function that target identification and target follow in hand-held head.
The content of the invention
The present invention for the target identification of camera is confined to FX and hand-held head can not realize target identification and
The problem of target follows, there is provided a kind of to carry out target identification and the system and method for target following using hand-held head.
The technical scheme that the present invention proposes with regard to above-mentioned technical problem is as follows：
The invention provides a kind of target identification and the system of target following, the system bag are carried out using hand-held head
Include：
Picture pick-up device, for shooting the picture comprising target to be followed or object to be identified；
Control system, the picture pick-up device is connected, for importing the pictorial information for including target to be followed, followed than treating
The face feature of target and object to be identified, and send and follow the hand-held head of instruction control to follow target；
Hand-held head, connects the picture pick-up device and control system, for following instruction to be moved in different directions according to
The picture pick-up device is moved, the target to be followed is maintained at the centre position of picture.
According to said system, the control system includes：
Import modul, the picture pick-up device is connected, for importing the pictorial information for including target to be followed；
Characteristic parameter extraction module, the import modul is connected, for picking out mesh to be followed according to the pictorial information
Target face feature；
Comparing module, the characteristic parameter extraction module is connected, for following the face of target and object to be identified than treating
Portion's feature；
Judge module, comparing module is connected, for judging that the face feature of the target to be followed and object to be identified is
It is no to be consistent；
The judge module is additionally operable to when described when following target to be consistent with the face feature of object to be identified, to described
Hand-held head, which is sent, follows instruction；
The picture comprising target to be followed includes the picture that existing picture and the picture pick-up device are taken on site.
According to said system, the hand-held head includes：
Clamping device, the picture pick-up device is connected, for clamping and fixing the picture pick-up device；
First motor, the clamping device is connected, for controlling the picture pick-up device to be rotated around x-axis；
Second motor, the clamping device is connected, for controlling the picture pick-up device to be rotated around y-axis；
3rd motor, first motor is connected, for controlling the picture pick-up device to be rotated around z-axis；
The judge module is additionally operable to judge the centre position whether target to be followed is in picture；
The picture pick-up device includes video camera, the camera with camera function and the mobile phone with camera function.
According to said system, an electricity is each contained in the inside of first motor, the second motor and the 3rd motor respectively
Machine driving plate, for the rotation power supply for respective affiliated motor；
The judge module is additionally operable to when when following target to be in the centre position of picture, sending cut-offing instruction.
According to said system, the picture pick-up device shoots an at least pictures to the target direction of the object to be identified.
Present invention also offers a kind of target identification and the method for target following, methods described bag are carried out using hand-held head
Include：
S1, the picture for importing target to be followed, shooting include the picture of object to be identified；
S2, the face feature for following than treating target and object to be identified, and send follow the hand-held head of instruction control with
With target；
S3, follow instruction to move the picture pick-up device in different directions according to, be maintained at the target to be followed
The centre position of picture.
According to the above method, the step S1 includes：
S11, the pictorial information for importing target to be followed；
S12, the face feature for picking out according to the pictorial information target to be followed；
S13, pass through a picture pick-up device shooting at least picture for including object to be identified.
According to the above method, the step S2 includes：
S21, the face feature for following than treating target and object to be identified；
S22, judge whether to find target to be followed；
If S23, finding target to be followed, sent by the judge module to the hand-held head and follow instruction；
If S24, not finding and following target, return to step S13, object to be identified is re-shoot.
According to the above method, the step S3 includes：
Instruction is followed described in S31, reception；
S32, motor started by motor driving plate, picture pick-up device is rotated around x-axis, y-axis or z-axis, and judge to wait to follow
Whether target is in the centre position of picture；
S33, when the target to be followed is in the centre position of picture, cut-offing instruction is sent by judge module；
S34, the cut-offing instruction is received, control the motor driving plate to stop power supply, make the motor stalls.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
Picture pick-up device is connected with hand-held head, the rotation of hand-held head is controlled by control system, realizes camera
Target identification is carried out to multiple regions, hand-held head is possessed the function that target identification and target follow；Due to equipment volume
It is small, any region can be easily carried to, flexibly realizes and the target identification in each region and target is followed.
Brief description of the drawings
Fig. 1 is that a kind of of the offer of the embodiment of the present invention one utilizes hand-held head to carry out target identification and the system of target following
Structural representation.
Fig. 2 is that a kind of of the offer of the embodiment of the present invention one utilizes hand-held head to carry out target identification and the system of target following
The structural representation of preferred embodiment.
What Fig. 3 a were that the embodiment of the present invention one provides a kind of is using hand-held head progress target identification and target following
The front view of the hand-held cradle head structure of system.
What Fig. 3 b were that the embodiment of the present invention one provides a kind of is using hand-held head progress target identification and target following
The right view of the hand-held cradle head structure of system.
Fig. 4 is that a kind of of the offer of the embodiment of the present invention one utilizes hand-held head to carry out target identification and the system of target following
Hand-held cradle head structure schematic diagram.
Fig. 5 is that a kind of of the offer of the embodiment of the present invention two utilizes hand-held head to carry out target identification and the system of target following
Flow chart.
Fig. 6 is that a kind of of the offer of the embodiment of the present invention two utilizes hand-held head to carry out target identification and the system of target following
Flow chart.
Fig. 7 is that a kind of of the offer of the embodiment of the present invention two utilizes hand-held head to carry out target identification and the system of target following
Flow chart.
Embodiment
Make the region of target identification limited to solve picture pick-up device fixation, hand-held head can not realize target identification and mesh
The problem of mark follows, the present invention is intended to provide a kind of carry out target identification and the method for target following, its core using hand-held head
Thought is thought：It is proposed it is a kind of carry out target identification and the system of target following using hand-held head, by picture pick-up device and hand-held cloud
Platform is connected, and the rotation of hand-held head is controlled by control system, is realized camera and is carried out target identification to multiple regions, makes hand
Hold head and possess the function that target identification and target follow.
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is implemented below in conjunction with accompanying drawing
Mode is described in further detail.
Embodiment one
Target identification and the system of target following are carried out using hand-held head the embodiments of the invention provide a kind of, referring to figure
1, the system includes：
Picture pick-up device 10, for shooting the picture comprising target to be followed or object to be identified；
Control system 20, picture pick-up device 10 is connected, for importing the pictorial information for including target to be followed, followed than treating
The face feature of target and object to be identified, and send and follow the hand-held head of instruction control to follow target；
Hand-held head 30, connects picture pick-up device 10 and control system 20, follows instruction to be moved in different directions for basis
Picture pick-up device 10, target to be followed is set to be maintained at the centre position of picture.
Specifically, include referring to Fig. 2, control system 20：
Import modul 201, picture pick-up device 10 is connected, for importing the pictorial information for including target 50 to be followed；
Characteristic parameter extraction module 202, import modul 201 is connected, for picking out target to be followed according to pictorial information
50 face feature；
In the present embodiment, positive face or the side of target 50 to be followed are contained in the picture comprising target 50 to be followed
Face, face feature include the characteristic parameters such as the distance between the profile of eyes, the distance at canthus, nose and eyes.
Comparing module 203, connection features parameter extraction module 202, for following target 50 and object to be identified than treating
40 face feature；
Judge module 204, comparing module 203 is connected, for judging the face of target 50 to be followed and object to be identified 40
Whether feature is consistent；
Judge module 204 is additionally operable to when when following target 50 to be consistent with the face feature of object to be identified 40, to hand-held
Head 30, which is sent, follows instruction；
Picture comprising target 50 to be followed includes the picture that existing picture and picture pick-up device 10 are taken on site.
Specifically, clamping device 301, the second motor 303 and support component are included referring to Fig. 3 a, hand-held head 30；Wherein,
Support component includes the second support member 3052；
Second motor 303 is connected by the second support member 3052 with clamping device 301, for controlling picture pick-up device work horizontal
Run in axle x-axis direction；X-axis direction, y-axis direction and z-axis direction form three dimensions three-dimensional coordinate system.
Specifically, the first motor 302, the 3rd motor 304 and handle cylinder 306 are also included referring to Fig. 3 b, hand-held head；Support
Component also includes the first support member 3051 and the 3rd support member 3053；
3rd motor 304 is arranged on handle cylinder 306, for controlling picture pick-up device to make the motion of axis of orientation z-axis direction；First
Motor 302 is connected by the 3rd support member 3053 with the 3rd motor 304, for controlling picture pick-up device to make pitch axis y-axis direction fortune
It is dynamic；Clamping device 301 is by the first support member 3051 and the first motor connection, for clamping and fixing picture pick-up device.
In the present embodiment, the first motor 302, the second motor 303 and the 3rd motor 304 are wrapped in casing, are passed through
Casing is fixedly installed in support component；
First motor 302, the second motor 303 and the 3rd motor 304 are operated under different rotating speeds, drive shooting to set respectively
The standby independently moving on x-axis, y-axis and z-axis direction；And the different rotating speeds of motor correspond to different moments of torsion, these three different torsions
Square interaction counteract the gravity and gravity of the earth caused by moment of torsion, picture pick-up device 10 is kept stable, shot with reaching
The effect of clear picture.
Specifically, each contain respectively referring to Fig. 4, the inside of the first motor 302, the second motor 303 and the 3rd motor 304
One motor driving plate, and the first motor 302, the second motor 303 are identical with the internal structure of the 3rd motor 304；With second
Exemplified by motor 303, motor driving plate 307 is fixed on the inside of the second motor 303 by casing, for for the second motor 303
Rotate power supply；Clamping device includes the fixed plate 3013 of the first support member 3051 of connection, for clamping device to be fixed on into support
On component；The train wheel bridge 3011 and lower plate 3012 of the both sides of fixed plate 3013 are movably connected on, for by being pressed from both sides in flexible modulation
The distance of plate 3011 and lower plate 3012, fixed all kinds of various sizes of picture pick-up devices 10；Fixed plate 3013, the and of train wheel bridge 3011
Lower plate 3012 form clamping device picture pick-up device 10 is fixed on support frame, and by support frame respectively with the first motor
302nd, the second motor 303 is connected with the 3rd motor 304；In the driving of the first motor 302, the second motor 303 and the 3rd motor 304
Under, the rotation on x-axis, y-axis and z-axis direction of picture pick-up device 10 is driven by rotary support frame.
In the present embodiment, picture pick-up device 10 includes video camera, the camera with camera function and with camera function
Mobile phone.
In the present embodiment, judge module 204 is using the face feature of target 50 to be followed as a reference value, and to be identified right
As 40 face feature parameter progress characteristic parameter matching, according to the matching degree of matching, target 50 to be followed is picked out.
Specifically, an at least pictures are shot to the target direction of object to be identified referring to Fig. 2, picture pick-up device 10.
In the present embodiment, plurality of pictures is shot to target direction, comprising multiple objects to be identified, increases what the match is successful
Probability.
Picture pick-up device is connected by the embodiment of the present invention with hand-held head, and the rotation of hand-held head is controlled by control system,
Realize camera and target identification is carried out to multiple regions, hand-held head is possessed the function that target identification and target follow；
Because equipment volume is small, can be easily carried to any region, flexibly realize to the target identification in each region and target with
With.
Embodiment two
Target identification and the method for target following are carried out using hand-held head the invention provides a kind of, suitable for embodiment
Target identification and the system of target following are carried out using hand-held head shown in one, referring to Fig. 3, this method includes：
S1, the picture for importing target to be followed, shooting include the picture of object to be identified；
S2, the face feature for following than treating target and object to be identified, and send and follow the hand-held head 30 of instruction control
Follow target；
S3, basis, which follow, to be instructed in different directions dollying equipment 10, target to be followed is maintained at the centre of picture
Position.
Specifically, include referring to Fig. 4, step S1：
S11, the pictorial information for importing target to be followed；
S12, the face feature for picking out according to pictorial information target to be followed；
S13, an at least picture for including object to be identified shot by picture pick-up device 10.
In the present embodiment, the face feature of target to be followed includes the profile of eyes, the distance at canthus, nose and eyes
The distance between wait characteristic parameter.The face for being also required to extract object to be identified to every picture comprising object to be identified is special
Sign.
Specifically, include referring to Fig. 4, step S2：
S21, the face feature for following than treating target and object to be identified；
S22, judge whether to find target to be followed；
If S23, finding target to be followed, sent by judge module 20 to hand-held head 30 and follow instruction；
If S24, not finding and following target, return to step S13, object to be identified is re-shoot.In the present embodiment, lead to
Judge module 204 is crossed using the face feature of target to be followed as a reference value, is carried out with the face feature parameter of object to be identified
Characteristic parameter matches, and according to the matching degree of matching, picks out target to be followed.
Specifically, include referring to Fig. 6, step S3：
Instruction is followed described in S31, reception；
S32, by motor driving plate 305 start motor, make picture pick-up device around x-axis, y-axis or z-axis rotate, and judge treat with
With target 50 whether in the centre position of picture；
S33, when the target 50 to be followed is in the centre position of picture, cut-offing instruction is sent by judge module；
S34, the cut-offing instruction is received, control the motor driving plate 305 to stop power supply, make the motor stop turning
It is dynamic.
In the present embodiment, target, which follows, can use TLD (TrackingLearningDetection single goals long-times
Track algorithm), CMT (Clustering of Static-Adaptive Correspondences for Deformable
The adaptive corresponding cluster of the static state of Object Tracking changeabilities tracking target) and Color Tracking (color with
Track) the methods of.
Specifically, referring to Fig. 7 a, in the crowd comprising the picture with identification object that picture pick-up device 10 is shot, include
Multiple objects to be identified 40, the extraction of face feature parameter is done to each object to be identified 40 by characteristic parameter extraction module,
Again by characteristic parameters such as the distance between the profile of comparison module eyes, the distance at canthus, nose and eyes, and provide
0-100% matching degree.
Specifically, referring to Fig. 7 b, the matching degree numerical value of judge module inner setting one, more than the matching degree of this special value
Think that the match is successful, recognizes target；After target identification success, target 50 to be followed is positioned, is calculated and treated by judge module
Follow space angle of the target relative to the screen center of picture pick-up device.
Specifically, referring to Fig. 7 c, sent by judge module and follow instruction, started by the motor driving plate of each motor
Motor, picture pick-up device is rotated around each axle, target to be followed is located at the center of picture；Sentenced by judge module 204
Break and the centre position that target 50 to be followed is in picture, send cut-offing instruction；Motor driving plate 305 is stopped power supply, and makes motor
Stop operating, complete identification and tracking to target.
In the present embodiment, as shown in Figure 7b, the target to be followed of positioning is located at the center of the picture of picture pick-up device
Front-left, so as shown in Figure 7 c, need to only be sent by judge module to the 3rd motor 304 and follow instruction, driven by motor
Dynamic plate drives the 3rd motor 304 to drive the 3rd support member to rotate around 15 degree of z-axis rotate counterclockwise, make picture pick-up device around the z-axis inverse time
Pin rotates 15 degree；Now, target 50 to be followed is located at the center of picture；Cut-offing instruction is sent by judge module, the 3rd
Motor 304 stops operating.
Picture pick-up device is connected by the embodiment of the present invention with hand-held head, and the rotation of hand-held head is controlled by control system,
Realize camera and target identification is carried out to multiple regions, hand-held head is possessed the function that target identification and target follow；
Because equipment volume is small, can be easily carried to any region, flexibly realize to the target identification in each region and target with
With.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
It should be noted that：What above-described embodiment provided carries out target identification and the system of target following using hand-held head
When realizing the method using hand-held head progress target identification and target following, only carried out with the division of above-mentioned each functional module
For example, in practical application, can be completed as needed and by above-mentioned function distribution by different functional modules, i.e., by equipment
Internal structure be divided into different functional modules, to complete all or part of function described above.In addition, above-mentioned implementation
Example provide using hand-held head carry out the system of target identification and target following with using hand-held head progress target identification and
The embodiment of the method for target following belongs to same design, and its specific implementation process refers to embodiment of the method, repeats no more here.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (9)
1. a kind of carry out target identification and the system of target following using hand-held head, it is characterised in that the system includes：
Picture pick-up device, for shooting the picture comprising target to be followed or object to be identified；
Control system, the picture pick-up device is connected, for importing the pictorial information for including target to be followed, target is followed than treating
With the face feature of object to be identified, and send and follow the hand-held head of instruction control to follow target；
Hand-held head, connects the picture pick-up device and control system, for following instruction to move institute in different directions according to
Picture pick-up device is stated, the target to be followed is maintained at the centre position of picture.
2. system according to claim 1, it is characterised in that the control system includes：
Import modul, the picture pick-up device is connected, for importing the pictorial information for including target to be followed；
Characteristic parameter extraction module, the import modul is connected, for picking out target to be followed according to the pictorial information
Face feature；
Comparing module, the characteristic parameter extraction module is connected, for following the face of target and object to be identified special than treating
Sign；
Judge module, the comparing module is connected, for judging that the face feature of the target to be followed and object to be identified is
It is no to be consistent；
The judge module is additionally operable to when described when following target to be consistent with the face feature of object to be identified, is held to described
Head, which is sent, follows instruction；
The picture comprising target to be followed includes the picture that existing picture and the picture pick-up device are taken on site.
3. system according to claim 2, it is characterised in that the hand-held head includes：
Clamping device, the picture pick-up device is connected, for clamping and fixing the picture pick-up device；
First motor, the clamping device is connected, for controlling the picture pick-up device to be rotated around x-axis；
Second motor, the clamping device is connected, for controlling the picture pick-up device to be rotated around y-axis；
3rd motor, first motor is connected, for controlling the picture pick-up device to be rotated around z-axis；
The judge module is additionally operable to judge the centre position whether target to be followed is in picture；
The picture pick-up device includes video camera, the camera with camera function and the mobile phone with camera function.
4. system according to claim 3, it is characterised in that first motor, the second motor and the 3rd motor it is interior
A motor driving plate is each contained in portion respectively, for the rotation power supply for respective affiliated motor；
The judge module is additionally operable to when when following target to be in the centre position of picture, sending cut-offing instruction.
5. system according to claim 3, it is characterised in that target side of the picture pick-up device to the object to be identified
To a shooting at least pictures.
6. a kind of carry out target identification and the method for target following using hand-held head, it is characterised in that methods described includes：
S1, the picture for importing target to be followed, shooting include the picture of object to be identified；
S2, the face feature for following than treating target and object to be identified, and send and follow the hand-held head of instruction control to follow mesh
Mark；
S3, follow instruction to move the picture pick-up device in different directions according to, the target to be followed is maintained at picture
Centre position.
7. according to the method for claim 6, it is characterised in that the step S1 includes：
S11, the pictorial information for importing target to be followed；
S12, the face feature for picking out according to the pictorial information target to be followed；
S13, pass through a picture pick-up device shooting at least picture for including object to be identified.
8. according to the method for claim 6, it is characterised in that the step S2 includes：
S21, the face feature for following than treating target and object to be identified；
S22, judge whether to find target to be followed；
If S23, finding target to be followed, sent by the judge module to the hand-held head and follow instruction；
If S24, not finding and following target, return to step S13, object to be identified is re-shoot.
9. according to the method for claim 6, it is characterised in that the step S3 includes：
Instruction is followed described in S31, reception；
S32, motor started by motor driving plate, picture pick-up device is rotated around x-axis, y-axis or z-axis, and judge target to be followed
Whether in the centre position of picture；
S33, when the target to be followed is in the centre position of picture, cut-offing instruction is sent by judge module；
S34, the cut-offing instruction is received, control the motor driving plate to stop power supply, make the motor stalls.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610863683.2A CN107888818A (en) | 2016-09-29 | 2016-09-29 | It is a kind of to carry out target identification and the system and method for target following using hand-held head |
| PCT/CN2016/107218 WO2018058774A1 (en) | 2016-09-29 | 2016-11-25 | System and method for target recognition and target tracking by using handheld cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610863683.2A CN107888818A (en) | 2016-09-29 | 2016-09-29 | It is a kind of to carry out target identification and the system and method for target following using hand-held head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107888818A true CN107888818A (en) | 2018-04-06 |
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ID=61763650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610863683.2A Pending CN107888818A (en) | 2016-09-29 | 2016-09-29 | It is a kind of to carry out target identification and the system and method for target following using hand-held head |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107888818A (en) |
| WO (1) | WO2018058774A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109495626A (en) * | 2018-11-14 | 2019-03-19 | 高劭源 | A kind of shooting auxiliary device and system for portable mobile communication equipment |
| WO2020107266A1 (en) * | 2018-11-28 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Handheld gimbal and photographing control method thereof |
| CN112154653A (en) * | 2019-08-13 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Shooting method based on handheld cloud deck, handheld cloud deck and storage medium |
| CN112189333A (en) * | 2019-08-13 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Following shooting, holder control method, shooting device, handheld holder and shooting system |
| CN113111788A (en) * | 2020-02-17 | 2021-07-13 | 天目爱视（北京）科技有限公司 | Iris 3D information acquisition equipment with adjusting device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109495626A (en) * | 2018-11-14 | 2019-03-19 | 高劭源 | A kind of shooting auxiliary device and system for portable mobile communication equipment |
| WO2020107266A1 (en) * | 2018-11-28 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Handheld gimbal and photographing control method thereof |
| US11245855B2 (en) | 2018-11-28 | 2022-02-08 | SZ DJI Technology Co., Ltd. | Handheld gimbal and shooting control method for handheld gimbal |
| US11539893B2 (en) | 2018-11-28 | 2022-12-27 | SZ DJI Technology Co., Ltd. | Handheld gimbal and shooting control method for handheld gimbal |
| CN112154653A (en) * | 2019-08-13 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Shooting method based on handheld cloud deck, handheld cloud deck and storage medium |
| CN112189333A (en) * | 2019-08-13 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Following shooting, holder control method, shooting device, handheld holder and shooting system |
| CN112189333B (en) * | 2019-08-13 | 2022-04-15 | 深圳市大疆创新科技有限公司 | Following shooting, holder control method, shooting device, handheld holder and shooting system |
| CN114710623A (en) * | 2019-08-13 | 2022-07-05 | 深圳市大疆创新科技有限公司 | Shooting method based on handheld cloud deck, handheld cloud deck and storage medium |
| CN112154653B (en) * | 2019-08-13 | 2022-07-29 | 深圳市大疆创新科技有限公司 | Shooting method based on handheld cloud deck, handheld cloud deck and storage medium |
| CN113111788A (en) * | 2020-02-17 | 2021-07-13 | 天目爱视（北京）科技有限公司 | Iris 3D information acquisition equipment with adjusting device |
| CN113111788B (en) * | 2020-02-17 | 2023-09-19 | 天目爱视（北京）科技有限公司 | Iris 3D information acquisition equipment with adjusting device |
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| WO2018058774A1 (en) | 2018-04-05 |
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