Vision-based autonomous drone navigation

Abstract

Systems, computer readable media, and methods for vision-based autonomous drone navigation are disclosed. An example method includes capturing an image using an image capture device of an autonomous drone; processing the image to identify an object; and navigating the autonomous drone relative to the object for a period of time. After the certain period of time, a second type of navigation is used based on determining the motion recovery structure navigation. Images are captured during the certain period of time to transition to a second type of navigation. The second type of navigation uses downwardly directed navigation cameras and other sensors.

Description

[0001] Priority declaration

[0002] This application claims priority under 35 U.S.C. 119(e) to U.S. Provisional Patent Application Serial No. 63 / 335,433 filed on April 27, 2022 and U.S. Patent Application Serial No. 18 / 072,982 filed on December 1, 2022, each of which is incorporated herein by reference in its entirety. Technical Field

[0003] Examples of the present disclosure generally relate to vision-based autonomous drone navigation. More particularly, but not by way of limitation, the present disclosure provides systems and methods for using a first type of navigation after an autonomous drone takes off and switching to a second type of vision-based navigation after a certain period of time. Background Art

[0004] Autonomous drones that provide photography services to users are becoming increasingly popular. But the design of autonomous drones is limited by size and power constraints. And users of autonomous drones keep demanding more and more services from autonomous drones. In addition, autonomous drones need to be safe to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In the drawings, which are not necessarily drawn to scale, similar reference numerals may describe similar components in different views. To easily identify the discussion of any particular element or action, the highest digit or digits in the reference numeral refer to the figure number in which the element is first introduced. Some non-limiting examples are shown in the figures of the accompanying drawings, in which:

[0006] Figure 1 is a diagrammatic representation of a networked environment in which the present disclosure may be deployed, according to some examples.

[0007] Figure 2 is a diagrammatic representation of a messaging system having both client-side and server-side functionality according to some examples.

[0008] Figure 3 is a diagrammatic representation of data structures as maintained in a database according to some examples.

[0009] Figure 4 is a graphical representation of messages according to some examples.

[0010] Figure 5 is a flow chart for access restriction processing according to some examples.

[0011] Figure 6 Examples of components for an autonomous drone are shown according to some examples.

[0012] Figure 7 is a schematic diagram illustrating an autonomous drone system according to some examples.

[0013] Figure 8 An autonomous drone is shown according to some examples.

[0014] Fig. 9 A system for vision-based autonomous drone navigation according to some examples is shown.

[0015] Fig.10 An unlocked autonomous drone is shown according to some examples.

[0016] Fig.11 Facial images according to some examples are shown.

[0017] Fig.12 Autonomous drone flight is shown according to some examples.

[0018] Fig.13 Methods for vision-based autonomous drone navigation according to some examples are shown.

[0019] Fig.14 is a diagrammatic representation of a machine in the form of a computer system according to some examples within which a set of instructions may be executed for causing the machine to perform any one or more of the methodologies discussed herein.

[0020] Fig.15 is a block diagram illustrating a software architecture in which examples may be implemented.

[0021] Fig.16 is a diagrammatic representation of a processing environment according to some examples. DETAILED DESCRIPTION

[0022] The following description includes systems, methods, techniques, instruction sequences and computer program products for implementing the illustrative examples of the present disclosure. In the following description, for the purpose of illustration, many specific details are set forth to provide an understanding of the various examples of the subject matter of the present invention. However, it will be apparent to those skilled in the art that the examples of the subject matter of the present invention can be put into practice without these specific details. Typically, known instruction examples, protocols, structures and techniques are not necessarily shown in detail.

[0023] Reference Figure 7, systems, computer readable media, and methods for vision-based navigation of an autonomous drone 710 are disclosed. The autonomous drone 710 may not have a global positioning system (GPS), or the autonomous drone 710 may be used indoors where GPS does not function. Additionally, other forms of navigation typically require multiple sensor readings, such as multiple images, before they can be effectively used to navigate the autonomous drone.

[0024] One challenge is how to control the autonomous drone 710 immediately after the autonomous drone 710 takes off and transition to the second type of navigation based on analyzing the image sequence. This technical problem is solved as follows. The autonomous drone 710 starts by taking an image of a face or person. The autonomous drone 710 uses the image to determine the distance between the face or person and the autonomous drone 710. The autonomous drone 710 then hovers to stabilize the autonomous drone 710, wherein the autonomous drone 710 can continue to take images of the face or person, or use other sensors to determine whether the autonomous drone 710 is stable. In some examples, the autonomous drone 710 determines the wind speed while hovering to determine whether it is safe to continue flying. The autonomous drone 710 then navigates to one or more waypoints while capturing images and storing sensor data. The second navigation module 961 determines when enough images and sensor data have been collected to enable the second navigation module 961 to take over navigation. In some examples, the second navigation module 961 guides the first navigation module 962 to continue navigating to waypoints that may be specified by the first navigation module 962 until the second navigation module 962 determines that it can take over the navigation of the autonomous drone 710.

[0025] Networked computing environment

[0026] Figure 1 1 is a block diagram illustrating an example messaging system 100 for exchanging data (e.g., messages and associated content) over a network. The messaging system 100 includes multiple instances of client devices 102, each of which hosts multiple applications, including a messaging client 104 and other applications 106. Each messaging client 104 is communicatively coupled to other instances of the messaging client 104 (e.g., hosted on respective other client devices 102), a messaging server system 108, and a third-party server 110 via a network 112 (e.g., the Internet). The messaging client 104 may also communicate with the locally hosted application 106 using an application program interface (API).

[0027] The messaging clients 104 are able to communicate and exchange data with other messaging clients 104 and messaging server systems 108 via the network 112. The data exchanged between the messaging clients 104 and between the messaging clients 104 and messaging server systems 108 include functions (e.g., commands for activating functions) and payload data (e.g., text, audio, video, or other multimedia data).

[0028] The messaging server system 108 provides server-side functionality to specific messaging clients 104 via the network 112. Although certain functions of the messaging system 100 are described herein as being performed by the messaging client 104 or by the messaging server system 108, the location of certain functions within the messaging client 104 or within the messaging server system 108 may be a design choice. For example, it may be technically preferable to initially deploy certain technologies and functions within the messaging server system 108, but later migrate the technologies and functions to the messaging client 104 where the client device 102 has sufficient processing power.

[0029] The messaging server system 108 supports various services and operations provided to the messaging clients 104. Such operations include transmitting data to the messaging clients 104, receiving data from the messaging clients 104, and processing data generated by the messaging clients 104. As examples, the data may include message content, client device information, geographic location information, media enhancements and overlays, message content persistence conditions, social network information, and live event information. The data exchange within the messaging system 100 is stimulated and controlled by functions available via the user interface (UI) of the messaging client 104.

[0030] Turning now specifically to the messaging server system 108, an application program interface (API) server 116 is coupled to the application server 114 and provides a programming interface to the application server 114. The application server 114 is communicatively coupled to a database server 120, which facilitates access to a database 126 that stores data associated with messages processed by the application server 114. Similarly, a web server 128 is coupled to the application server 114 and provides a web-based interface to the application server 114. To this end, the web server 128 handles incoming network requests via the Hypertext Transfer Protocol (HTTP) and several other related protocols.

[0031] The application program interface (API) server 116 receives and transmits message data (e.g., commands and message payloads) between the client device 102 and the application server 114. Specifically, the application program interface (API) server 116 provides a set of interfaces (e.g., routines and protocols) that can be called or queried by the messaging client 104 to activate the functions of the application server 114. An application program interface (API) server 116 exposes various functions supported by the application server 114, including: account registration; login functionality; sending messages from a particular messaging client 104 to another messaging client 104 via the application server 114; sending media files (e.g., images or videos) from a messaging client 104 to a messaging server 118 and for possible access by another messaging client 104; setting up of a collection of media data (e.g., a story); retrieving a friend list of a user of a client device 102; retrieving such a collection; retrieving messages and content; adding and removing entities (e.g., friends) from an entity graph (e.g., a social graph); locating friends within a social graph; and opening application events (e.g., related to a messaging client 104).

[0032] The application server 114 hosts multiple server applications and subsystems, including, for example, a messaging server 118, an image processing server 122, and a social network server 124. The messaging server 118 implements multiple message processing technologies and functions, particularly those related to the aggregation and other processing of content (e.g., text and multimedia content) included in messages received from multiple instances of the messaging client 104. As will be described in more detail, text and media content from multiple sources can be aggregated into collections of content (e.g., referred to as stories or galleries). These collections are then made available to the messaging client 104. Given the hardware requirements for other processor- and memory-intensive data processing, such processing can also be performed on the server side by the messaging server 118.

[0033] The application server 114 also includes an image processing server 122 that is dedicated to performing various image processing operations, typically with respect to images or videos within the payload of messages sent from or received at the messaging server 118 .

[0034] The social network server 124 supports various social networking functions and services and makes these functions and services available to the messaging server 118. To this end, the social network server 124 maintains and accesses the entity graph 308 (e.g., Figure 3Examples of functions and services supported by social network server 124 include identifying other users in messaging system 100 that have relationships with a particular user or that the particular user is "following," and also identifying interests and other entities of a particular user.

[0035] Returning to the messaging client 104, the features and functions of the external resource (e.g., application 106 or applet) are available to the user via the interface of the messaging client 104. In this context, "external" refers to the fact that the application 106 or applet is outside the messaging client 104. External resources are usually provided by a third party, but can also be provided by the creator or provider of the messaging client 104. The messaging client 104 receives a user selection of an option for launching or accessing features of such an external source. The external resource can be an application 106 installed on the client device 102 (e.g., a "local app"), or a small-scale version of the application hosted on the client device 102 or away from the client device 102 (e.g., on a third-party server 110) (e.g., a "applet"). The small-scale version of the application includes a subset of the features and functions of the application (e.g., a full-scale, local version of the application) and is implemented using a markup language document. In one example, the small-scale version of the application (e.g., a "applet") is a web-based markup language version of the application and is embedded in the messaging client 104. In addition to using markup language documents (eg, .*ml files), applets may also include scripting languages ​​(eg, .*js files or .json files) and style sheets (eg, .*ss files).

[0036] In response to receiving a user selection of an option for launching or accessing a feature of an external resource, the messaging client 104 determines whether the selected external resource is a web-based external resource or a locally installed application 106. In some cases, the application 106 locally installed on the client device 102 can be independent of the messaging client 104 and launched separately from the messaging client 104, such as by selecting an icon corresponding to the application 106 on a home screen of the client device 102. A small-scale version of such an application can be launched or accessed via the messaging client 104, and in some examples, none of the portions of the small-scale application can be accessed outside of the messaging client 104 or limited portions of the small-scale application can be accessed outside of the messaging client 104. The small-scale application can be launched by the messaging client 104 receiving, for example, a markup language document associated with the small-scale application from a third-party server 110 and processing such a document.

[0037] In response to determining that the external resource is a locally installed application 106, the messaging client 104 instructs the client device 102 to launch the external resource by executing locally stored code corresponding to the external resource. In response to determining that the external resource is a web-based resource, the messaging client 104 communicates with the third-party server 110 (for example) to obtain a markup language document corresponding to the selected external resource. The messaging client 104 then processes the obtained markup language document to present the web-based external resource within the user interface of the messaging client 104.

[0038] The messaging client 104 may notify the user of the client device 102 or other users (e.g., "friends") associated with such a user of activities occurring in one or more external resources. For example, the messaging client 104 may provide a notification to a participant in a conversation (e.g., a chat session) in the messaging client 104 about the current or recent use of an external resource by one or more members of a user group. One or more users may be invited to join an active external resource or to start an external resource that was recently used but is currently inactive (in the friend group). An external resource may provide the ability to share items, conditions, states, or locations in an external resource with one or more members of a user group entering a chat session to participants in the conversation who each use a corresponding messaging client 104. A shared item may be an interactive chat card that members of a chat may interact with, for example, to start a corresponding external resource, view specific information within an external resource, or bring members of a chat to a specific location or state within an external resource. Within a given external resource, a response message may be sent to a user on the messaging client 104. The external resource may selectively include different media items in the response based on the current context of the external resource.

[0039] The messaging client 104 may present a list of available external resources (e.g., applications 106 or applets) to the user to launch or access a given external resource. The list may be presented in the form of a context-sensitive menu. For example, icons representing different applications (or applets) in the applications 106 (or applets) may vary based on how the user launches the menu (e.g., from a conversational interface or from a non-conversational interface).

[0040] System Architecture

[0041] Figure 21 is a block diagram showing additional details about the messaging system 100 according to some examples. Specifically, the messaging system 100 is shown as including a messaging client 104 and an application server 114. The messaging system 100 contains a number of subsystems that are supported on the client side by the messaging client 104 and on the server side by the application server 114. These subsystems include, for example, a transient timer system 202, a collection management system 204, an augmentation system 208, a map system 210, a gaming system 212, an external resource system 214, and an autonomous drone management system 216.

[0042] The transient timer system 202 is responsible for implementing temporary or time-limited access to content by the messaging client 104 and the messaging server 118. The transient timer system 202 includes a plurality of timers that selectively enable access (e.g., for presentation and display) to messages and associated content via the messaging client 104 based on duration and display parameters associated with a message or a collection of messages (e.g., a story). Additional details regarding the operation of the transient timer system 202 are provided below.

[0043] The collection management system 204 is responsible for managing collections or collections of media (e.g., collections of text, image video, and audio data). Collections of content (e.g., messages, including images, videos, text, and audio) can be organized into "event galleries" or "event stories." Such collections can be made available for a specified time period, such as the duration of an event related to the content. For example, content related to a concert can be made available as a "story" for the duration of the concert. The collection management system 204 can also be responsible for publishing an icon that provides notification of the existence of a particular collection to the user interface of the messaging client 104.

[0044] In addition, the collection management system 204 includes a curation interface 206 that enables a collection manager to manage and curate a particular collection of content. For example, the curation interface 206 enables an event organizer to curate a collection of content related to a particular event (e.g., to remove inappropriate content or redundant messages). In addition, the collection management system 204 uses machine vision (or image recognition technology) and content rules to automatically curate content collections. In some examples, compensation may be paid to users for including user-generated content in a collection. In such a case, the collection management system 204 operates to automatically pay such users for use of their content.

[0045] The enhancement system 208 provides various functions that enable users to enhance (e.g., annotate or otherwise modify or edit) media content associated with a message. For example, the enhancement system 208 provides functions related to the generation and publication of media overlays for messages processed by the messaging system 100. The enhancement system 208 is operable to provide media overlays or enhancements (e.g., image filters) to the messaging client 104 based on the geographic location of the client device 102. In another example, the enhancement system 208 is operable to provide media overlays to the messaging client 104 based on other information such as social network information of the user of the client device 102. Media overlays can include audio and visual content and visual effects. Examples of audio and visual content include pictures, text, logos, animations, and sound effects. Examples of visual effects include color overlays. Audio and visual content or visual effects can be applied to media content items (e.g., photos, digital objects) at the client device 102. For example, media overlays can include text or images that can be superimposed on top of photos taken by the client device 102. In another example, the media overlay includes a location identifier (e.g., Venice Beach) overlay, the name of a live event, or a business name (e.g., Beach Cafe) overlay. In another example, the augmentation system 208 uses the geographic location of the client device 102 to identify a media overlay that includes the name of a business at the geographic location of the client device 102. The media overlay may include other logos associated with the business. The media overlay may be stored in the database 126 and accessed through the database server 120.

[0046] In some examples, the enhancement system 208 provides a user-based publishing platform that enables a user to select a geographic location on a map and upload content associated with the selected geographic location. The user can also specify situations in which a particular media overlay should be provided to other users. The enhancement system 208 generates a media overlay that includes the uploaded content and associates the uploaded content with the selected geographic location.

[0047] In other examples, the enhancement system 208 provides a merchant-based publishing platform that enables merchants to select specific media overlays associated with geographic locations via a bidding process. For example, the enhancement system 208 associates the highest bidding merchant's media overlay with the corresponding geographic location for a predefined amount of time.

[0048] The mapping system 210 provides various geolocation functions and supports the presentation of map-based media content and messages by the messaging client 104. For example, the mapping system 210 enables the display of user icons or avatars (e.g., stored in the profile data 316) on a map to indicate the current or past locations of the user's "friends" within the context of the map, as well as media content (e.g., a collection of messages including photos and videos) generated by these friends. For example, a message posted by a user to the messaging system 100 from a particular geographic location can be displayed to a particular user's "friends" on the mapping interface of the messaging client 104 within the context of that particular location on the map. The user can also share his or her location and status information with other users of the messaging system 100 (e.g., using an appropriate status avatar) via the messaging client 104, where the location and status information is similarly displayed to the selected user within the context of the mapping interface of the messaging client 104.

[0049] The gaming system 212 provides various gaming functions within the context of the messaging client 104. The messaging client 104 provides a gaming interface that provides a list of available games that can be launched by a user within the context of the messaging client 104 and played with other users of the messaging system 100. The messaging system 100 also enables a particular user to invite other users to participate in playing a particular game by sending an invitation to such other users from the messaging client 104. The messaging client 104 also supports both voice messaging and text messaging within the context of game play (e.g., chatting), provides leaderboards for games, and also supports providing in-game rewards (e.g., game coins and items).

[0050] The external resource system 214 provides an interface for the messaging client 104 to communicate with a remote server (e.g., a third-party server 110) to launch or access external resources, i.e., applications or applets. Each third-party server 110 hosts, for example, applications based on a markup language (e.g., HTML5) or a small-scale version of an application (e.g., a game application, a utility application, a payment application, or a ride-sharing application). The messaging client 104 can launch a web-based resource (e.g., an application) by accessing an HTML5 file from a third-party server 110 associated with a web-based resource. In some examples, the application hosted by the third-party server 110 is programmed in JavaScript using a software development kit (SDK) provided by the messaging server 118. The SDK includes an application programming interface (API) having functions that can be called or activated by a web-based application. In some examples, the messaging server 118 includes a JavaScript library that provides access to a given external resource to certain user data of the messaging client 104. HTML5 is used as an example technology for programming games, but applications and resources programmed based on other technologies can be used.

[0051] To integrate the functionality of the SDK into a web-based resource, the SDK is downloaded by the third-party server 110 from the messaging server 118, or received by the third-party server 110 in other ways. Once the SDK is downloaded or received, the SDK is included as part of the application code of the web-based external resource. The code of the web-based resource can then call or activate certain functions of the SDK to integrate the features of the messaging client 104 into the web-based resource.

[0052] The SDK stored on the messaging server 118 effectively provides a bridge between external resources (e.g., an application 106 or applet) and the messaging client 104. This provides users with a seamless experience of communicating with other users on the messaging client 104 while also preserving the look and feel of the messaging client 104. In order to bridge the communication between the external resources and the messaging client 104, in some examples, the SDK facilitates communication between the third-party server 110 and the messaging client 104. In some examples, a web view JavaScript bridge running on the client device 102 establishes two one-way communication channels between the external resources and the messaging client 104. Messages are sent asynchronously between the external resources and the messaging client 104 via these communication channels. Each SDK function activation is sent as a message and a callback. Each SDK function is implemented by constructing a unique callback identifier and sending a message with the callback identifier.

[0053] By using the SDK, not all information from the messaging client 104 is shared with the third-party server 110. The SDK limits which information is shared based on the needs of the external resource. In some examples, each third-party server 110 provides an HTML5 file corresponding to a web-based external resource to the messaging server 118. The messaging server 118 can add a visual representation (e.g., box art or other graphics) of the web-based external resource in the messaging client 104. Once the user selects a visual representation or instructs the messaging client 104 to access a feature of a web-based external resource through the GUI of the messaging client 104, the messaging client 104 obtains the HTML5 file and instantiates the resources required to access the features of the web-based external resource.

[0054] The messaging client 104 presents a graphical user interface (e.g., a login page or title screen) for the external resource. During, before, or after presenting the login page or title screen, the messaging client 104 determines whether the launched external resource has been previously authorized to access the user data of the messaging client 104. In response to determining that the launched external resource has been previously authorized to access the user data of the messaging client 104, the messaging client 104 presents another graphical user interface of the external resource including the functions and features of the external resource. In response to determining that the launched external resource has not been previously authorized to access the user data of the messaging client 104, after a threshold time period (e.g., 3 seconds) of displaying the login page or title screen of the external resource, the messaging client 104 slides a menu for authorizing the external resource to access the user data (e.g., animating the menu to emerge from the bottom of the screen to the middle or other portion of the screen). The menu identifies the type of user data that the external resource will be authorized to use. In response to receiving the user selection of the accept option, the messaging client 104 adds the external resource to the list of authorized external resources and enables the external resource to access the user data from the messaging client 104. In some examples, the external resource is authorized to access the user data by the messaging client 104 according to the OAuth2 framework.

[0055] The messaging client 104 controls the type of user data shared with the external resource based on the type of external resource that is authorized. For example, an external resource including a full-scale application (e.g., application 106) is provided with access to a first type of user data (e.g., only a two-dimensional avatar of a user with or without different avatar characteristics). As another example, an external resource including a small-scale version of an application (e.g., a web-based version of the application) is provided with access to a second type of user data (e.g., payment information, a two-dimensional avatar of a user, a three-dimensional avatar of a user, and an avatar with various avatar characteristics). Avatar characteristics include different ways to customize the look and feel of an avatar (e.g., different poses, facial features, clothing, etc.).

[0056] Reference Figure 7 According to some examples, the autonomous drone management system 216 supports the off-site client device 704, the server 706, the smart phone 708, and the drone 710. The autonomous drone management system 216 receives requests from the off-site client device 704, the server 706, the smart phone 708, and / or the drone 710 and responds to the requests. In some examples, the control application resides in a host device such as the client device 102, the off-site client device 704, the server 706, the smart phone 708. For example, the control application enables the user to set thresholds, Figure 6 The flight plan and other preferences of the control knob 614. In some examples, the autonomous drone management system 216 provides functions and routines to assist in the control application.

[0057] Data Architecture

[0058] Figure 3 is a diagram illustrating a data structure 300 that may be stored in a database 126 of a messaging server system 108 according to some examples. Although the contents of the database 126 are illustrated as including a plurality of tables, it should be understood that data may be stored in other types of data structures (e.g., as an object-oriented database).

[0059] The database 126 includes message data stored in a message table 302. For any particular message, the message data includes at least message sender data, message recipient (or receiver) data, and a payload. Figure 4 Additional details regarding information that may be included in a message and included within the message data stored in message table 302 are described.

[0060] The entity table 306 stores entity data and is linked (e.g., referenced) to the entity graph 308 and profile data 316. The entities whose records are maintained within the entity table 306 may include individuals, corporate entities, organizations, objects, places, events, etc. Regardless of the entity type, any entity about which the messaging server system 108 stores data may be an identified entity. Each entity is provided with a unique identifier as well as an entity type identifier (not shown).

[0061] The entity graph 308 stores information about relationships and associations between entities. By way of example only, such relationships may be social, professional (e.g., working in a common company or organization), interest-based, or activity-based.

[0062] The profile data 316 stores multiple types of profile data about a particular entity. Based on the privacy settings specified by the particular entity, the profile data 316 can be selectively used and presented to other users of the messaging system 100. In the case where the entity is a person, the profile data 316 includes, for example, a user name, phone number, address, settings (e.g., notification and privacy settings), and an avatar representation (or a collection of such avatar representations) selected by the user. The particular user can then selectively include one or more of these avatar representations in the content of messages transmitted via the messaging system 100 and in a map interface displayed to other users by the messaging client 104. The collection of avatar representations can include a "status avatar" that presents a graphical representation of a status or activity that a user may choose to communicate at a particular time.

[0063] Where the entity is a group, the profile data 316 for the group may similarly include one or more avatar representations associated with the group, in addition to the group name, members, and various settings related to the group (eg, notifications).

[0064] Database 126 also stores enhancement data, such as overlays or filters, in enhancement table 310. Enhancement data is associated with and applied to videos (data for videos is stored in video table 304) and images (data for images is stored in image table 312).

[0065] In one example, a filter is an overlay displayed as an overlay on an image or video during presentation to a recipient user. The filter can be of various types, including a user-selected filter from a set of filters presented to a sending user by the messaging client 104 when the sending user is composing a message. Other types of filters include geolocation filters (also referred to as geofilters), which can be presented to a sending user based on a geographic location. For example, a geolocation filter specific to a nearby or specific location can be presented by the messaging client 104 within a user interface based on geographic location information determined by a global positioning system (GPS) unit of the client device 102.

[0066] Another type of filter is a data filter that can be selectively presented to the sending user by the messaging client 104 based on other input or information collected during the message creation process by the client device 102. Examples of data filters include the current temperature at a particular location, the current speed the sending user is traveling, the battery life of the client device 102, or the current time.

[0067] Other augmented data that may be stored in the image table 312 include augmented reality content items (eg, corresponding to application lenses or augmented reality experiences). Augmented reality content items may be real-time special effects and sounds that may be added to an image or video.

[0068] As described above, augmented data includes augmented reality content items, overlays, image transformations, AR images, and similar items involving modifications that can be applied to image data (e.g., videos or images). This includes real-time modifications that modify the image when the image is captured using the device sensor (e.g., one or more cameras) of the client device 102 and then display the image with the modification on the screen of the client device 102. This also includes modifications to stored content such as video clips that can be modified in the gallery. For example, in a client device 102 that can access multiple augmented reality content items, a user can use a single video clip with multiple augmented reality content items to see how different augmented reality content items will modify the stored clips. For example, by selecting different augmented reality content items for content, multiple augmented reality content items that apply different pseudo-random movement models can be applied to the same content. Similarly, real-time video capture can be used with the modifications shown to show how the video image currently captured by the sensor of the client device 102 will modify the captured data. Such data can be displayed only on the screen without being stored in the memory, or the content captured by the device sensor can be recorded and stored in the memory with or without modification (or both). In some systems, the preview feature can simultaneously show different augmented reality content items displayed in different windows in the display. This can, for example, enable viewing multiple windows with different pseudo-random animations on the display at the same time.

[0069] Thus, data and various systems using augmented reality content items or other such transformation systems that modify content using such data may involve: detection of objects (e.g., faces, hands, bodies, cats, dogs, surfaces, objects, etc.) in video frames; tracking such objects as they leave, enter, and move around the field of view; and modifying or transforming such objects as they are tracked. In various examples, different methods for implementing such transformations may be used. Some examples may involve: generating a three-dimensional mesh model of one or more objects; and using transformations of the model and animated textures within a video to implement the transformations. In other examples, tracking of points on an object may be used to place an image or texture (which may be two-dimensional or three-dimensional) at the tracked location. In yet another example, neural network analysis of a video frame may be used to place an image, model, or texture in content (e.g., an image or video frame). Thus, augmented reality content items involve both: images, models, and textures used to create transformations in the content; and additional modeling and analysis information required to implement such transformations using object detection, tracking, and placement.

[0070] Real-time video processing can be performed with any kind of video data (e.g., video streams, video files, etc.) stored in the memory of any kind of computerized system. For example, a user can load a video file and save it in the memory of the device, or a sensor of the device can be used to generate a video stream. In addition, any object, such as human faces and parts of the human body, animals, or non-living things (e.g., chairs, cars, or other objects) can be processed using computer animation models.

[0071] In some examples, when a specific modification is selected together with the content to be transformed, the element to be transformed is identified by a computing device, and then if the element exists in a frame of a video, the element to be transformed is detected and tracked. The elements of the object are modified according to a request for modification, thereby transforming the frame of the video stream. For different types of transformations, the frame of the video stream can be transformed by different methods. For example, for the transformation of the frame that mainly involves changing the form of the elements of the object, the characteristic points of each element of the object are calculated (for example, using an active shape model (ASM) or other known methods). Then, for each element of at least one element of the object, a grid based on the characteristic points is generated. The grid is used for the subsequent stage of tracking the elements of the object in the video stream. During the tracking process, the grid mentioned for each element is aligned with the position of each element. Then, additional points are generated on the grid. A first group of first points is generated for each element based on the modification request, and a group of second points is generated for each element based on the group of first points and the modification request. Then, the frame of the video stream can be transformed by modifying the elements of the object based on the group of first points and the group of second points and the grid. In such a method, the background of the modified object may also be changed or distorted by tracking and modifying the background.

[0072] In some examples, a transformation that changes some areas of an object using elements of an object can be performed by calculating characteristic points of each element of the object and generating a grid based on the calculated characteristic points. Points are generated on the grid, and then various areas based on these points are generated. The elements of the object are then tracked by aligning the area for each element with the position for each element of at least one element, and the properties of the area can be modified based on the modification request, thereby transforming the frame of the video stream. Depending on the specific modification request, the properties of the mentioned area can be transformed in different ways. Such modifications may involve: changing the color of the area; removing at least some parts of the area from the frame of the video stream; including one or more new objects in the area based on the modification request; and modifying or distorting the elements of the area or object. In various examples, any combination of such modifications or other similar modifications may be used. For certain models to be animated, some characteristic points may be selected as control points to determine the entire state space of options for model animation.

[0073] In some examples of computer animation models that use face detection to transform image data, faces are detected on an image using a specific face detection algorithm (e.g., Viola-Jones). An active shape model (ASM) algorithm is then applied to the face region of the image to detect facial feature reference points.

[0074] Other methods and algorithms suitable for face detection can be used. For example, in some examples, landmarks are used to locate features, which represent distinguishable points that exist in most of the images considered. For example, for facial landmarks, the location of the left pupil can be used. If the initial landmarks are not recognizable (for example, if the person wears an eye patch), secondary landmarks can be used. Such a landmark identification process can be used for any such object. In some examples, the set of landmarks forms a shape. The shape can be represented as a vector using the coordinates of the points in the shape. A similarity transformation (which allows translation, scaling, and rotation) that minimizes the average Euclidean distance between the shape points is used to align one shape with another shape. The average shape is the average of the aligned training shapes.

[0075] In some examples, the landmark search begins with an average shape that aligns with the position and size of the face determined by the global face detector. Such a search then repeats the steps of suggesting tentative shapes by adjusting the positions of the shape points by template matching of the image texture around each point, and then conforming the tentative shapes to the global shape model until convergence occurs. In some systems, individual template matches are unreliable, and the shape model pools the results of weak template matches to form a stronger overall classifier. The entire search is repeated at each level of the image pyramid from coarse to fine resolution.

[0076] The transformation system can capture an image or video stream on a client device (e.g., client device 102) and perform complex image manipulations locally on the client device 102 while maintaining an appropriate user experience, computation time, and power consumption. Complex image manipulations can include size and shape changes, emotion transitions (e.g., changing a face from a frown to a smile), state transitions (e.g., aging a subject, reducing apparent age, changing gender), style transitions, application of graphical elements, and any other suitable image or video manipulations enabled by a convolutional neural network that has been configured to execute efficiently on the client device 102.

[0077] In some examples, a computer animation model for transforming image data can be used by a system in which a user can capture an image or video stream of the user (e.g., a selfie) using a client device 102 having a neural network that operates as part of a messaging client 104 operating on the client device 102. A transformation system operating within the messaging client 104 determines the presence of a face within the image or video stream and provides a modification icon associated with the computer animation model to transform the data image, or the computer animation model can be presented in association with an interface described herein. The modification icon includes the following changes, which can be the basis for modifying the user's face within the image or video stream as part of the modification operation. Once the modification icon is selected, the transformation system initiates a process of transforming the user's image to reflect the selected modification icon (e.g., generating a smiley face on the user). Once the image or video stream is captured and the specified modification is selected, the modified image or video stream can be presented in a graphical user interface displayed on the client device 102. The transformation system can implement a complex convolutional neural network for a portion of the image or video stream to generate and apply the selected modification. That is, a user can capture an image or video stream, and once a modification icon has been selected, the modified result can be presented in real time or near real time. Furthermore, while the video stream is being captured, the modification can be persistent and the selected modification icon remains toggled. Machine-taught neural networks can be used to implement such modifications.

[0078] The graphical user interface presenting the modifications performed by the transformation system can supply additional interactive options for the user. Such options can be based on the interface used to initiate the selection of a particular computer animation model and content capture (e.g., initiated from a content creator user interface). In various examples, the modifications can be persistent after the initial selection of the modification icon. The user can turn the modification on or off by tapping or otherwise selecting the face being modified by the transformation system, and store it for later viewing or browsing other areas of the imaging application. In the case of multiple faces being modified by the transformation system, the user can globally turn the modification on or off by tapping or selecting a single face modified and displayed within the graphical user interface. In some examples, each face in a group of multiple faces can be modified individually, or such modifications can be switched individually by tapping or selecting a single face or a series of single faces displayed within the graphical user interface.

[0079] The story table 314 stores data about a collection of messages and associated image, video or audio data that are compiled into a collection (e.g., a story or gallery). The creation of a particular collection can be initiated by a particular user (e.g., each user whose record is maintained in the entity table 306). A user can create a "personal story" in the form of a collection of content that has been created and sent / broadcasted by the user. To this end, the user interface of the messaging client 104 may include an icon that is user-selectable to enable the sending user to add specific content to his or her personal story.

[0080] A collection may also constitute a "live story" that is a collection of content from multiple users, created manually, automatically, or using a combination of manual and automatic techniques. For example, a "live story" may constitute a curated stream of user-submitted content from various locations and events. Users whose client devices have location services enabled and who are at a common location event at a particular time may be presented with the option of contributing content to a particular live story, for example, via the user interface of the messaging client 104. Live stories may be identified to a user by the messaging client 104 based on his or her location. The end result is a "live story" told from a community perspective.

[0081] Another type of content collection is called a "location story" that enables users whose client devices 102 are located in a particular geographic location (e.g., on a college or university campus) to contribute to a particular collection. In some examples, contributions to location stories may require secondary authentication to verify that the end user belongs to a particular organization or other entity (e.g., is a student on a university campus).

[0082] As mentioned above, the video table 304 stores video data, which in one example is associated with a message whose record is maintained within the message table 302. Similarly, the image table 312 stores image data associated with a message whose message data is stored in the entity table 306. The entity table 306 can associate various enhancements from the enhancement table 310 with the various images and videos stored in the image table 312 and the video table 304.

[0083] Data communication architecture

[0084] Figure 4is a schematic diagram illustrating the structure of a message 400 generated by a messaging client 104 for transmission to another messaging client 104 or a messaging server 118 according to some examples. The content of a particular message 400 is used to populate a message table 302 stored in a database 126 accessible by a messaging server 118. Similarly, the content of the message 400 is stored in memory as "in-transit" or "in-flight" data of a client device 102 or application server 114. The message 400 is shown to include the following example components:

[0085] Message identifier 402 : a unique identifier that identifies the message 400 .

[0086] Message text payload 404 : Text to be generated by a user via the user interface of the client device 102 and included in the message 400 .

[0087] Message image payload 406 : Image data captured by a camera component of the client device 102 or retrieved from a memory component of the client device 102 and included in the message 400 . Image data for a sent or received message 400 may be stored in the image table 312 .

[0088] Message video payload 408 : Video data captured by the camera component or retrieved from the memory component of the client device 102 and included in the message 400 . The video data for a message 400 sent or received may be stored in the video table 304 .

[0089] Message audio payload 410 : audio data captured by a microphone or retrieved from a memory component of the client device 102 and included in the message 400 .

[0090] Message enhancement data 412: Enhancement data (e.g., filters, stickers, or other annotations or enhancements) representing enhancements to be applied to the message image payload 406, message video payload 408, or message audio payload 410 of the message 400. The enhancement data for a sent or received message 400 may be stored in the enhancement table 310.

[0091] Message duration parameter 414: A parameter value indicating the amount of time in seconds that the content of a message (eg, message image payload 406, message video payload 408, message audio payload 410) will be presented to or made accessible to a user via messaging client 104.

[0092] Message geolocation parameters 416: Geolocation data (e.g., latitude and longitude coordinates) associated with the content payload of the message. Multiple message geolocation parameter 416 values ​​may be included in the payload, each of which is associated with a content item included in the content (e.g., a specific image within a message image payload 406, or a specific video within a message video payload 408).

[0093] Message story identifier 418: An identifier value that identifies one or more content collections (e.g., a "story" identified in stories table 314) associated with a particular content item in message image payload 406 of message 400. For example, multiple images within message image payload 406 may each be associated with multiple content collections using an identifier value.

[0094] Message tags 420: Each message 400 may be tagged with a plurality of tags, each of which indicates the subject of the content included in the message payload. For example, where a particular image included in the message image payload 406 depicts an animal (e.g., a lion), a tag value indicating the relevant animal may be included within the message tags 420. The tag values ​​may be manually generated based on user input, or may be automatically generated using, for example, image recognition.

[0095] • Message sender identifier 422: An identifier (eg, a messaging system identifier, an email address, or a device identifier) ​​that indicates the user of the client device 102 on which the message 400 was generated and from which the message 400 was sent.

[0096] • Message recipient identifier 424: An identifier (eg, a messaging system identifier, an email address, or a device identifier) ​​that indicates the user of the client device 102 to which the message 400 is addressed.

[0097] The content (e.g., value) of each component of message 400 may be a pointer to a location in a table where a content data value is stored. For example, an image value in message image payload 406 may be a pointer to a location (or address of a location) within image table 312. Similarly, a value within message video payload 408 may point to data stored within video table 304, a value stored within message enhancement 412 may point to data stored in enhancement table 310, a value stored within message story identifier 418 may point to data stored in story table 314, and values ​​stored within message sender identifier 422 and message recipient identifier 424 may point to user records stored in entity table 306.

[0098] Time-based access restriction architecture

[0099] Figure 5 is a schematic diagram illustrating an access restriction process 500, according to which access to content (e.g., a multimedia payload of an ephemeral message 502 and associated data) or a collection of content (e.g., an ephemeral message group 504) can be time-restricted (e.g., made ephemeral).

[0100] The ephemeral message 502 is shown to be associated with a message duration parameter 506, the value of which determines the amount of time that the ephemeral message 502 will be displayed by the messaging client 104 to the receiving user of the ephemeral message 502. In one example, the ephemeral message 502 may be viewed by the receiving user for up to 10 seconds, depending on the amount of time specified by the sending user using the message duration parameter 506.

[0101] The message duration parameter 506 and the message recipient identifier 424 are shown as inputs to a message timer 510, which is responsible for determining the amount of time that the transient message 502 is shown to the particular receiving user identified by the message recipient identifier 424. In particular, the transient message 502 is only shown to the relevant receiving user for the period of time determined by the value of the message duration parameter 506. The message timer 510 is shown as providing an output to a more general transient timer system 202, which is responsible for the overall timing of displaying content (e.g., the transient message 502) to the receiving user.

[0102] exist Figure 5 1. Ephemeral message 502 is shown as being included within ephemeral message group 504 (e.g., a collection of messages in a personal story or event story). Ephemeral message group 504 has an associated group duration parameter 508, the value of which determines the duration for which ephemeral message group 504 is presented and accessible to users of messaging system 100. For example, group duration parameter 508 may be the duration of a concert, wherein ephemeral message group 504 is a collection of content related to the concert. Alternatively, a user (an owning user or a curator user) may specify the value of group duration parameter 508 when performing setup and creation of ephemeral message group 504.

[0103] In addition, each ephemeral message 502 within the ephemeral message group 504 has an associated group participation parameter 512, the value of which determines the duration for which the ephemeral message 502 will be accessible within the context of the ephemeral message group 504. Thus, a particular ephemeral message group 504 may "expire" and become inaccessible within the context of the ephemeral message group 504 before the ephemeral message group 504 itself expires according to the group duration parameter 508. The group duration parameter 508, the group participation parameter 512, and the message recipient identifier 424 each provide inputs to a group timer 514, which first operatively determines whether a particular ephemeral message 502 in the ephemeral message group 504 will be displayed to a particular receiving user, and if so, how long to display it. Note that the identity of the particular receiving user is also known to the ephemeral message group 504 due to the message recipient identifier 424.

[0104] Thus, the group timer 514 operatively controls the total lifespan of the associated ephemeral message group 504 and the individual ephemeral messages 502 included in the ephemeral message group 504. In one example, each ephemeral message 502 within the ephemeral message group 504 remains viewable and accessible for a period of time specified by the group duration parameter 508. In another example, within the context of the ephemeral message group 504, a particular ephemeral message 502 may expire based on the group participation parameter 512. Note that even within the context of the ephemeral message group 504, the message duration parameter 506 may still determine the duration for which a particular ephemeral message 502 is displayed to a receiving user. Thus, the message duration parameter 506 determines the duration for which a particular ephemeral message 502 is displayed to a receiving user, regardless of whether the receiving user is viewing the ephemeral message 502 within or outside the context of the ephemeral message group 504.

[0105] In addition, the transient timer system 202 can be operative to remove a particular transient message 502 from the transient message group 504 based on determining that the particular transient message 502 has exceeded the associated group participation parameter 512. For example, where the sender user has established a group participation parameter 512 of 24 hours from posting, the transient timer system 202 will remove the associated transient message 502 from the transient message group 504 after the specified 24 hours. The transient timer system 202 is also operative to remove a transient message group 504 when the group participation parameter 512 for each transient message 502 within the transient message group 504 has expired, or when the transient message group 504 itself has expired according to the group duration parameter 508.

[0106] In some use cases, the creator of a particular ephemeral message group 504 may specify an indefinite group duration parameter 508. In this case, the expiration of the group participation parameter 512 for the last remaining ephemeral message 502 within the ephemeral message group 504 will determine when the ephemeral message group 504 itself expires. In this case, a new ephemeral message 502 with a new group participation parameter 512 added to the ephemeral message group 504 effectively extends the life of the ephemeral message group 504 to a value equal to the group participation parameter 512.

[0107] In response to the transient timer system 202 determining that the transient message group 504 has expired (e.g., is no longer accessible), the transient timer system 202 communicates with the messaging system 100 (and, for example, in particular, the messaging client 104) to cause the indicia (e.g., icon) associated with the relevant transient message group 504 to no longer be displayed within the user interface of the messaging client 104. Similarly, when the transient timer system 202 determines that the message duration parameter 506 for a particular transient message 502 has expired, the transient timer system 202 causes the messaging client 104 to no longer display the indicia (e.g., icon or text identification) associated with the transient message 502.

[0108] Vision-based autonomous drone navigation

[0109] Figure 6 An example of components 600 for an autonomous drone is shown, according to some examples. Figure 6 The component 600 shown in FIG. 6 is an autonomous drone such as Figure 7 , Figure 8 , Fig.10 and Fig.12 Components 600 are organized into functional groups that include input / output devices 602, processor 604, memory 606, battery 608, power chip 610, sensor 648, wireless connection 666, power and communication connection 646, and propulsion system 684. Those skilled in the art will recognize that components 600 may be organized into different functional groups, or may all be part of an autonomous drone individually.

[0110] Components 600 are connected via power and communication connections 646. According to some examples, power and communication connections 646 include one or more communication buses, power buses, and / or point-to-point connections. In addition, one or more of components 600 may be optional. And component 600 may include additional components. In addition, the number of components shown may be different. For example, there may be multiple processors 604. The terms electrical and electronic may be used to refer to electronic components and / or electronic components.

[0111] The propulsion system 684 includes electric motors 686, wherein each electric motor 686 includes a rotor 688 associated with a propeller 690. According to some examples, the propeller 690 provides aerodynamic lift for the autonomous drone 710, as well as accelerates and rotates the autonomous drone. Once the electric motor 686 is actuated in response to a signal including an electric motor operating instruction from, for example, the processor 604, the rotor 688 rotates, which rotates the propeller 690. The electric motor 686 and the actuator 638 are powered by the battery 608 and / or the power chip 610 and controlled by a signal from the processor 604. According to some examples, the electric motor 686 is a variable electric motor. In some examples, the electric motor 686 has a low setting, which the processor 604 can use to indicate to the user of the autonomous drone that the autonomous drone is preparing to take off.

[0112] Having more than one propeller 690 enables the autonomous drone to continue flying when one or more of the electric motors 686, rotors 688, or propellers 690 fail. For example, if one of the electric motors 686 fails, the autonomous drone 710 can remain in the air by means of the remaining electric motors 686 working in concert to compensate. In some examples, the propulsion system 684 sends a signal to the processor 604 indicating that the electric motor 686 is not operating properly. In some examples, the electric motor 686 provides a signal to the processor 604 indicating whether the electric motor 686 is operating normally. In addition, the greater the number of electric motors 686 incorporated into the autonomous drone, the greater the lift that the autonomous drone 710 will generate, thereby enabling the autonomous drone to carry a heavier payload, such as one or more sensors 648.

[0113] In some examples, the propulsion system 684 includes one or more actuators 638 that tilt the electric motors 686 so that the electric motors 686 can operate at an angle relative to the reference frame of the autonomous drone. For example, each electric motor 686 is rotationally mounted on the autonomous drone about a single axis of rotation, wherein the actuator 638 controls the angle of the electric motor 686. In some examples, each electric motor 686 is rotationally mounted with two or more axes of rotation controlled by the one or more actuators 638. In some examples, the one or more actuators 638 control the angle of more than one electric motor 686.

[0114] Regarding component 600, the functional group includes sensors 648, which include a photographic camera 650, a navigation camera 651, an inertial measurement unit (IMU) A 652, an altimeter 654, a gyroscope 656, an IMU B 658, an accelerometer 665, an altitude detector 660 including a light 662 and a light detector 664, a magnetic sensor 659, a wind speed sensor 661, a clock 663, a motion sensor 667, a microphone 669, an orientation device 671, and the like.

[0115] In some examples, sensor 648 generates data that is processed by processor 604 and stored as data in memory 606, such as in memory 1 626 as data 630 or in memory N 632 as data 636. For example, altimeter 654 is an instrument used to determine the altitude reached. Thus, when the autonomous drone is set to hover in position, processor 604 uses data from altimeter 654 to determine the altitude and makes adjustments to propulsion system 684 to maintain that altitude.

[0116] Alternatively or in addition, the altitude detector 660 is used to generate data that can be used to determine the altitude of the autonomous drone above the ground. For example, the light 662 of the altitude detector 660 is mounted on the bottom of the autonomous drone to shine light downward to the ground, which reflects and hits the light detector 664. The processor 604 uses the data generated by the light irradiated by the light 662 and received at the light detector 664 to determine the altitude of the autonomous drone above the ground based on the flight time of the light and the speed of light. The light 662 is a suitable light source with an intensity sufficient to produce a detectable reflection from the ground back to the light detector 664. In some examples, the light 662 emits electromagnetic radiation of a specific wavelength, and the light detector 664 is manufactured to detect it. In some examples, the altitude is also determined based on the roll and pitch of the autonomous drone to take into account the fact that the light 662 may not shine light straight down. In some examples, the altitude detector 660 is based on sonar.

[0117] IMU A 652 and IMU B 658 use a combination of accelerometers, gyroscopes, and optional magnetometers to output measurements such as specific force, angular velocity, and orientation of an autonomous drone. Altimeter 654, gyroscope 656, accelerometer 665, and other sensors 648 can be replaced by IMU A 652 and / or IMU B 658. Various combinations of sensors 648 can be used to generate data required for navigating an autonomous drone. In some examples, sensor 648 includes a lidar system, a radar system, a light sensor, or another form of sensor that can be used to assist in navigation and / or photography. In some examples, sensors 648 are included that enable an autonomous drone to determine the pitch, yaw, and roll of an autonomous drone. In some examples, sensor 648 includes a motion sensor 667 that does not require power but generates a signal based on the autonomous drone being moved. Motion sensor 667 can be used to generate an event to which processor 604 responds.

[0118] The camera 650 and other sensors 648 generate data that can be captured to display or save data for a user of the autonomous drone. The camera 650 includes a digital sensor, such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), divided into pixels. The sensor generates an electrical signal based on the light that strikes the sensor. In some examples, the camera 650 is mounted horizontally relative to the axis of the propeller 690 of the autonomous drone 710, and the navigation camera 651 is mounted vertically relative to the axis of the propeller 690 and faces downward.

[0119] In some examples, the generated data is similar to the reference Fig. 9 The position 952 and time 936 of the autonomous drone 710 are associated. In some examples, IMU A 652 is coupled to the photo camera 650, which enables the processor 604 to stabilize the photo camera 650 to improve photography and determine whether the photo is unreliable because the photo camera 650 is unstable. The photo camera 651 can be rotatably mounted on the body of the autonomous drone and coupled to the body via one or more actuators or other mechanisms to control the orientation of the photo camera 650 relative to the body of the autonomous drone. IMU B 658 is attached to the autonomous drone to provide data for navigation and / or orientation. The processor 604 uses the data generated by the IMU for navigation and, in some examples, for stabilizing the photo camera 650. In some examples, there are more than one photo camera 650.

[0120] The navigation camera 651 is mounted on the fuselage of the autonomous drone to provide data to assist the navigation of the autonomous drone. There may be more than one navigation camera 651. For example, the navigation device may be a front camera mounted on the fuselage of the autonomous drone, wherein the navigation camera 651 is positioned to capture an image of the scene at which the autonomous drone is pointing. Additionally or alternatively, the navigation camera 651 may be mounted vertically on the fuselage of the autonomous drone, wherein the navigation camera 651 is positioned to capture an image of the terrain being flown over. One or more navigation cameras 651 may be movably or fixedly mounted on the fuselage of the autonomous drone, coupled to the fuselage via one or more actuators or other mechanisms to control the orientation of one or more navigation cameras 651 relative to the fuselage of the autonomous drone. In some examples, the photographic camera 650 is also used as the navigation camera 651. In some examples, the photographic camera 650 provides a greater pixel resolution and requires more power to operate than the navigation camera 651.

[0121] Data such as video and digital images captured by the photographic camera 650 and the navigation camera 651 can be stored in the memory 606 as data 630, 636. In addition, the data captured by the photographic camera 650 and / or the navigation camera 651 can be wirelessly streamed in near real time to an external device 682 using a wireless connection. In addition, the autonomous drone can send data including instructions to or receive data from the external device 682.

[0122] Magnetic sensor 659 provides data about the orientation of the autonomous drone within the magnetic field. Wind speed sensor 661 indicates wind speed, which may be apparent wind speed and / or wind direction, which processor 604 may use to estimate true wind speed based on the flight characteristics of the autonomous drone and settings such as power for electric motor 686. Clock 663 generates data indicating time. In some examples, clock 663 indicates Greenwich Mean Time. In some examples, clock 663 generates time relative to events such as power-on of the autonomous drone. Microphone 669 converts sound waves into electrical signals that may be stored as data 630, 636 and processed by processor 604. Orientation device 671 is a sensor that indicates the orientation of autonomous drone 710. For example, orientation device 671 indicates whether the autonomous drone is right side up or upside down.

[0123] The wireless connection 666 includes one or more wireless protocols, which may include radio waves and / or light waves. As shown, the wireless connection 666 includes a GPS chip 668, a lower power wireless chip 670 connected to a transceiver / antenna 672, and a higher power wireless chip 676 connected to a transceiver / antenna 678. The GPS chip 668 is connected to an antenna / transceiver, which may be inside the chip or outside. The GPS chip 668 receives communications from satellites and uses information from received signals from multiple satellites to determine the location of the autonomous drone. The GPS chip 668 is a higher power chip 676. In some examples, the processor 604 receives setup data required for the operation of the GPS chip 668 from an external device 682, wherein the setup data may include information about the satellites from which the GPS chip 668 receives signals, wherein the data may include location information about the satellites. Some examples do not include one or more of the components 600, such as the GPS chip 668.

[0124] The lower power wireless chip 670 may include a chip that executes one or more lower power wireless protocols. For example, Bluetooth Low Energy (BLE) may be used to communicate with a closer external device 682. The higher power wireless chip 676 may include a chip that executes one or more higher power wireless protocols. For example, 3GPP protocols and IEEE 802.11 protocols.

[0125] The input / output device 602 provides input and output to the autonomous drone, which can be used by the user. The indicator light 612 indicates the status of the autonomous drone and is visible to the user of the autonomous drone. For example, the indicator light 612 can indicate on and off, charge level, charge status such as charging or not charging, standby status, whether there are photos or videos in the memory, whether the memory is full, whether the wireless connection 666 is on or off, etc. An electronic display such as an LCD display can be in addition to or instead of the indicator light 612. In some examples, one of the buttons 618 is a flight button, which, when pressed, indicates to the autonomous drone 710 that the autonomous drone 710 should take off.

[0126] The control knob 614 may take other forms, being a knob mounted on the exterior of the autonomous drone that provides the user with the ability to control the operation of the autonomous drone. According to some examples, the control knob 614 may be referred to as a control user interface device or another similar term. The control knob 614 has multiple positions or states, such as off, on, transmit - for transmitting data such as images from the autonomous drone, various flight paths and behaviors, etc. The state 615 is an internal state that provides information to the processor 604 about the setting of the control knob 614. Other input and output user interface items may be used in addition to or in place of the control knob 614.

[0127] Connector 616 is an external connector that provides a power and / or data connection from an external device 682 to an autonomous drone. For example, there is a power connector 616 for charging an autonomous drone. Power connector 616 or another connector 616 can be used to transfer data to a host device or receive power from another power source. In some examples, connector 616 is a wireless rechargeable connector 616 so that the autonomous drone is placed on or near a charging base. In some examples, there is a connector 616 for a micro secure digital (SD) card or another external storage device.

[0128] In some examples, there is a button 618 for performing one or more functions. For example, button 618, when pressed, instructs the autonomous drone to perform any function indicated by control knob 614, such as taking off as quickly as possible and taking a portrait photo of the user of the autonomous drone.

[0129] The processor 604 executes instructions 620 to process data 630, 636 and / or control the operation of the autonomous drone. The instructions 620 are machine instructions that specify the operations to be performed by the processor 604 and can be stored in a cache memory that is part of the processor 604 chip. Power section 1 622 to power section N 624 indicate that the processor 604 is divided into different parts so that the power chip 610 can select which parts of the processor 604 to provide power to according to the different power states 641 of the autonomous drone. Throughout this discussion, the processor 604 is described as a participant in determining various functions, but those skilled in the art will recognize that dedicated chips can be included in various components of the autonomous drone to perform specific functions. For example, the altitude detector 660 may include the following processing circuit system, which determines the height above the ground and outputs data indicating the height above the ground for use by the processor 604.

[0130] The memory 606 includes memory 1 626 to memory N 632. Memory 1 626 and memory N 632 include instructions 628, 634 and data 630, 636, respectively. The processor 604 and one or more other components 600 can access the memory via power and communication connection 646. The memory in memory 1 626 to memory N 632 is a main memory, which is used to store data generated by the sensor 648 and other data for communication, such as to the wireless connection 666 and from the wireless connection 666. According to some examples, the main memory is a dynamic memory such as DRAM or RAM. Another memory in memory 1 626 to memory N 632 is a static memory that does not require power to maintain a state, such as SRAM or ROM. In some examples, another memory in memory 1 626 to memory N 632 is a storage unit as a machine-readable medium. For example, the storage unit is a removable micro SD card. The power chip 610 has connections to different memories so that the power chip 610 can provide power to one or more of the memories in memory 1 626 to memory N 632. Instructions 628, 634 and data 630, 636 reside completely or partially in main memory, static memory, storage unit and / or in the processor 604, such as cache memory, or any suitable combination thereof. The main memory, static memory, storage unit, and memory of the processor 604 are examples of machine-readable media.

[0131] The autonomous drone may have a pre-programmed flight path or operation that controls the flight path and operation of the autonomous drone. Fig. 9 , pre-programmed flight plan 960. The pre-programmed flight plan 960 can be associated with the position or state 615 of the control knob 614. The memory 606 stores the pre-programmed flight paths or maneuvers. In some examples, the autonomous drone downloads new pre-programmed flight paths or maneuvers from the external device 682.

[0132] Alternatively or additionally, the movement of the autonomous drone can be controlled by a remote controller, which is an external device 682, such as a remote control device, which a pilot or user can use to start, land, take photos or videos, and navigate the autonomous drone when the autonomous drone is not used as an autonomous drone. In these embodiments, the autonomous drone is not used as an autonomous drone, but rather as a remotely controlled drone. The remote controller can take many forms, from a game controller-like controller to smartphones and tablets. Regardless of its design, the remote controller needs to communicate with the autonomous drone, and typically uses radio waves to communicate. For example, drones typically operate over 2.4 gigahertz radio waves. To communicate with autonomous drones, many drone controllers use one of the communication protocols of IEEE 802.11, which may be referred to as Wi-Fi, which can be transmitted on the 2.4 gigahertz spectrum and is used by smartphones and tablets to communicate. In one example, referring to Figure 7 , UAV 710 uses Wi-Fi or Communicates with smartphone 708. External device 682 includes a remote control / host device, such as an off-site client device 704, server 706, smartphone 708, or another device.

[0133] A power source is required to power the electric motor 686 and to power other components 600. In some examples, the autonomous drone includes one or more batteries 608 as a power source for components 600 such as the electric motor 686. According to some examples, the battery 608 is removable. In some examples, the battery 608 is rechargeable, wherein one or more connectors 616 are directly connected to the battery 608 or connected to the battery 608 via electrical or electronic components. In some examples, the power chip 640 manages the battery 608 by performing various functions described below, such as determining the charge of the battery 608, turning on or off recharging, providing capacitors, resistors and / or inductors for the output of the battery 608, etc. In some examples, the power chip 640 includes a power state 641, which indicates which components of the components 600 of the autonomous drone are currently being powered. The power state 641 includes different power states 641, such as power state 1 642 to power state N 644. Different power states 641 provide power to different subsets of components 600, and therefore consume different amounts of power, and provide different levels of functionality for the autonomous drone, as discussed herein. Different power states 641 are achieved by providing power to different sets of power and communication connections 646. In some examples, components 600 are included as part of machine 1400. In some examples, one or more of components 600 is part of a motherboard in which processor 604 runs a real-time operating system or a processor such as a processor 604. operating system.

[0134] Figure 7 7 is a schematic diagram showing an autonomous drone system 700 according to some examples. In some examples, the autonomous drone 710 is an autonomous drone or a semi-autonomous drone. The autonomous drone 710 is configured to operate in a controlled manner by using Figure 6 The wireless connection 666 sends communications 712, 713 to a remote control / host device such as an off-site client device 704, a server 706, a mobile phone or smart phone 708, or another device to communicate. The wireless network 702 is a cellular telephone network, such as an LTE network, an IEEE 802.11 network, In some examples, autonomous drone 710 communicates directly with a remote control / host device via communications 713, where communications 713 are sent using a communication protocol such as the communication protocol discussed for wireless network 702.

[0135] In the example, the autonomous drone 710 sends communications 712, 713 including data and / or commands or requests to another device, such as a smart phone 708. In some cases, communications between a remote control / host device, such as a smart phone 708, and the autonomous drone 710 may be conducted via a wireless network 702. The wireless network 702 may include access to the Internet, and / or the autonomous drone 710 may access the Internet via another connected device, such as a smart phone 708.

[0136] In some examples, server 706 provides a social networking service so that content such as photos, videos, status updates, media content messages, etc. can be directly transmitted from an autonomous drone 710 that may be in flight to a social media website such as In some examples, the server 706 is a messaging server system 108, and the data captured by the camera 650 of the drone 710 is broadcast or otherwise transmitted (which may be in near real time) to a remote control / host device such as a smartphone 708, the server 706, the client device 704, or another device via the wireless network 702. The autonomous drone 710 can communicate directly or via another device with the client device 704. Figure 2 Contact the drone management system 216.

[0137] One or more of the remote control / host devices, such as the smart phone 708, can assist in processing data, such as the data 630, by wirelessly receiving the data, processing the data, and then wirelessly sending the information back to the autonomous drone 710. For example, the smart phone 708 can receive an image from the autonomous drone 710 and determine that the image is a landmark, such as a museum, a restaurant, a park, a national monument, etc. The smart phone 708 can send back information used by the autonomous drone 710 to assist in the flight path associated with the landmark. The smart phone 708 can contact the drone management system 216 to perform functions for the autonomous drone 710. The autonomous drone 710 can contact the autonomous drone control system 216 by sending a command to the autonomous drone management system 216, such as to store data for a user, request a user or purchaser of the autonomous drone, etc.

[0138] In some examples, a remote control / host device such as a smart phone 708 includes an associated application that a user or device can use to control or send instructions to the autonomous drone 710, such as returning to the user, flying a particular set, moving left, moving right, moving up or down, tilting, taking a set of photos, shutting down, etc. The associated application can provide real-time or near real-time images of the video being captured by the autonomous drone 710. In some examples, the associated application enables the user to configure the autonomous drone 710 by setting timeouts, conditions, and / or thresholds 970. In addition, the user can select configurations regarding the wireless connections 666 to indicate which wireless protocols should be used in which states of the autonomous drone.

[0139] In some examples, the remote control / host device acts as a router or passes messages or packets directly or indirectly to other devices connected to the wireless network 702. For example, the smart phone 708 receives images from the autonomous drone 710 via communication 713. The smart phone 708 takes the image and sends it to the server 706 for posting on a social media website, which may be in near real time. The server 706 can host the autonomous drone management system 216. According to some examples, the remote control / host device such as the smart phone 708 controls the state of the autonomous drone 710 by sending instructions to the autonomous drone 710 via communications 713, 712.

[0140] Figure 8 An autonomous drone 710 is shown according to some examples. The autonomous drone 710 is illustrated from a bottom view of the autonomous drone 710. Figure 6 and Figure 8 , the autonomous drone 710 includes propellers 690, a control knob 614 that may be on the top, an altitude detector 660, a battery 608, a photo camera 650, an indicator light 612, a connector 616, a central chassis 804, a navigation camera 651, and a flight button 806. The charging / transmission cable 802 is plugged into the connector 616. The central chassis 804 includes various components 600, such as a processor 604, a memory 606, a wireless connection 666, etc. In some examples, the autonomous drone 710 is plastic and is about six inches long and about four inches wide. In some examples, the autonomous drone 710 is a quadcopter. The flight button 806 is a button 618 that, when pressed, indicates that the autonomous drone 710 should take off and execute the flight plan. According to some embodiments, the state 615 of the control knob 614 selects Fig. 9 960 of pre-programmed flight plans.

[0141] Fig. 9A system 900 for vision-based autonomous drone navigation is shown according to some examples. A navigation system 916 guides the autonomous drone 710 along a flight plan or to a waypoint 910. According to some examples, the navigation system 916 is stored in the memory 606 and executed by the processor 604.

[0142] The navigation system 916 has two types of navigation. The first type is used for a certain period of time when the autonomous drone 710 has just taken off through the take-off module 966, the hovering module 964 and the first navigation module 962. During the first type of navigation, the orientation of the autonomous drone 710 is based on the position relative to the initial face 968. During the first type of navigation, the autonomous drone 710 captures images and sensor data 912, and the second navigation module 961 uses the images and sensor data 912 to build a reference system beyond the initial face 968. For example, the second navigation module 961 is based on visual odometry, where the movement of the autonomous drone 710 is determined based on the use of information from the image sequence. In other examples, simultaneous localization and mapping (SLAM) is used as the second type of navigation. The type of navigation used by the second navigation module 961 can be called motion navigation, which is based on using information from different positions of the autonomous drone 710 to build structure or structural information about the real world.

[0143] In some examples, the first navigation module 962 continues to perform one or more of the following functions: moving to the waypoint 910; capturing images from the navigation camera 651; capturing images from the photography camera 650; and collecting sensor data 912, for example from the IMU A 652, until the second navigation module 961 is able to take over navigation of the autonomous drone 710. The second navigation module 961 builds a model of the area around the autonomous drone 710 and how to interpret the images to determine the movement of the autonomous drone 710.

[0144] The first navigation system 962 generates waypoints 910 based on a preprogrammed flight plan 960. For example, the preprogrammed flight plan 960 is to fly a few feet above the user's head. The navigation system 916 must determine the waypoints 910 that conform to the preprogrammed flight plan 960. The preprogrammed flight plan 960 includes a flight plan 960 for the autonomous drone 710 to follow to start the navigation system 916, such as going to the waypoint 910 and hovering. The preprogrammed flight plan 960 may include a target distance from a person associated with a face and a target height of the autonomous drone above the ground. The first navigation module 962 generates waypoints 910 based on a position relative to the initial face 968 or subsequent objects. In some examples, the second navigation module 961 signals when it is ready to take over navigation. In some examples, the second navigation module 961 is ready when the optical flow field produces an estimate of the motion of the autonomous drone 710 within an error threshold.

[0145] The second navigation module 961 generates a flight plan 911 based on the preprogrammed flight plan 960. The second navigation module 961 generates the flight plan 911 based on navigation relative to a world or reference frame other than the initial face 968, although the location of the initial face 968 may be part of the flight plan 911.

[0146] Sensor data 912 is data generated by sensors 648 and / or other components 600 such as wireless connections 666. Sensor data 912 also includes information about input / output devices 602, such as state 615 of control knob 614. Propulsion system commands 914 include determining power to electric motor 686 and actuator 638 position.

[0147] In some examples, navigation system 916 determines autonomous drone speed 934, which is associated with time 936, direction 950, and location 952. The speed of autonomous drone 710 is autonomous drone speed 934 and direction 950. In some examples, navigation system 916 enables autonomous drone 710 to be fully autonomous, wherein autonomous drone 710 takes off, flies, lands, and optionally captures images or video without additional input from electronic control devices external to autonomous drone 710.

[0148] In some examples, the navigation system 916 determines the autonomous drone rate 934 or speed based on images from the navigation camera 651 in a vertical position, and in some examples, further determines the autonomous drone rate 934 or speed based on an altitude estimate made using an altimeter 654 or another sensor 648. In some examples, the navigation system 916 determines the autonomous drone rate 934 or speed using dead reckoning using the sensor data 912. Those skilled in the art will recognize that the autonomous drone rate 934 may be determined by the navigation system 916 using sensor data 912 in other ways.

[0149] The navigation system 916 determines the wind speed directly through a sensor such as the wind speed sensor 661 or based on the difference in the expected speed of the autonomous drone 710 compared to the actual speed of the autonomous drone 710. In some examples, the navigation system 916 determines the wind speed by hovering the autonomous drone 710 in position and determining the power to apply to the electric motor 686 to keep the autonomous drone 710 hovering in the same position.

[0150] In some examples, the navigation system 916 determines the speed of the autonomous drone 710 based on differences in the position of the autonomous drone 710, which may be based on the GPS chip 668 or objects detected in the image. In some examples, the navigation system 916 determines the position of the autonomous drone 710 based on a wireless protocol such as IEEE 802.11, where messages are sent between the autonomous drone 710 and one or more hosts to determine the position of the autonomous drone 710. For example, the navigation system 916 measures the latency between direct communications 713 with the smartphone 708. In some examples, the position of the autonomous drone 710 is determined based on the position of the host, such as the smartphone 708, and information about the distance of the autonomous drone 710 from the smartphone 708, which can be combined with the height above the ground to determine the coordinates of the position of the autonomous drone 710.

[0151] The navigation system 916 determines an altitude 927 based on sensor data 912, such as from a navigation camera 651, an altitude detector 660, or another component 600. The altitude 927 is associated with a time 929. The autonomous drone speed 934 and the altitude 927 can be determined in different ways. The time 929 associated with the altitude 927 and the time 936 associated with the autonomous drone speed 934 are generated by a clock 663. The navigation system 916 includes a state 972, which indicates a goal or purpose of the autonomous drone 710 or the navigation system 916. For example, the state 972 is an initial flight state in which the autonomous drone 710 is stable and navigated to one or more waypoints 910.

[0152] The facial recognition module 970 recognizes the face. The facial recognition module 970 is based on a neural network, feature recognition and localization, or another method. In some examples, after recognizing the initial face 968, the facial recognition module 970 uploads the initial face 968 to a server such as the autonomous drone management system 216, which trains a neural network to recognize the face in the initial face 968 and downloads weights to the autonomous drone 710 to make the process of recognizing the initial face 968 in subsequent images easier.

[0153] The facial recognition module 970 determines an initial face 968. The initial face 968 may include not only a person's face, but also a person's body. The unlocking module 967 unlocks or turns on the autonomous drone 710 based on the sensor data 912. In some examples, the unlocking module 967 receives an indication of a selection of the flight button 806, and in response, sends a command to the camera 650 to capture an image, which is processed by the facial recognition module 970. If the facial recognition module 970 determines that there is a suitable face in the image, the unlocking module 967 unlocks the autonomous drone 710 for flight. The takeoff module 966 is called to start the flight. In some examples, the unlocking module 967 does not receive a command from an external electronic control device indicating that the autonomous drone 710 should be unlocked. The unlocking module 967 unlocks the autonomous drone 710 based on the user interacting with the input / output device 602 of the autonomous drone 710.

[0154] The takeoff module 966 performs initial navigation for the autonomous drone 710. The takeoff module 966 sends propulsion system commands 914 to lift the autonomous drone 710 into flight according to the initial flight plan. The first navigation module 962 determines a waypoint 910, which is based on the pre-programmed flight plan 960. In some examples, the first waypoint 910 is to take off a few inches to a few feet, and then hover. The first navigation module 962 navigates the autonomous drone 710 to the waypoint 910 based on receiving sensor data 912 and sending propulsion system commands 914.

[0155] After the takeoff module 966 causes the autonomous drone 710 to rise or take off, and at other times, the hovering module 964 causes the autonomous drone 710 to hover. The hovering module 964 examines objects or faces in the image and uses other sensor data 912, such as the height above the ground, to hover the autonomous drone 710. For example, the hovering module 964 examines subsequent images captured by the photographic camera 650 to keep the initial face 968 at a constant distance from the autonomous drone 710. The hovering module 964 uses other sensor data 912 to determine whether it remains in the appropriate position (or is in a constant position), such as images from the navigation camera 651, which can be used to see whether the autonomous drone 710 has moved. The navigation system 916 has been described as having various functions performed by several modules, but those skilled in the art will recognize that the functions performed by several modules and the number of modules may be different, or there may be no separate modules.

[0156] Fig.10 Unlocking 1000 an autonomous drone according to some examples is shown. A person 1006 presses the fly button 806 and points the camera 650 at the person's face 1002. The facial recognition module 970 determines whether the face 1002 is suitable as an initial face 968 based on the distance 1004 of the face 1002 from the autonomous drone 710. The unlocking module 967 unlocks the autonomous drone 710 and recognizes the combination of the face 1002 and the pressing of the fly button 806 as a "fly instruction", which transitions the navigation system 916 to the takeoff module 966.

[0157] Fig.11 A facial image 1100 according to some examples is shown. The first navigation module 962 is configured to estimate the distance 1004 of the autonomous drone 710 from the face 1002 based on the facial image 1102 or the facial image 1106. The image may be referred to as a captured image. The size or estimated size of the face is estimated based on a standard facial size. The number of pixels occupied by the facial image 1102 or the facial image 1106, respectively, of the image sensor 1104 or the image sensor 1108 is used to estimate the distance 1004. Additional or subsequent images are captured after the initial face 968, and the navigation system 916 can estimate the distance of the autonomous drone 710 to the face. In some examples, the navigation system 916 is configured to estimate the distance of an object, such as a person's body, a chair, or another object whose approximate size can be estimated.

[0158] Fig.12The autonomous drone 710 flight according to some examples is shown. The autonomous drone 710 has flown out of the open hand 1202 to a hovering 1206 position. The takeoff module 966 initially navigates the autonomous drone 710 to fly above the open hand 1202. The hovering module 964 takes over the autonomous drone 710 and flies the autonomous drone 710 to hover 1206. The hovering module 964 uses one or more of the images from the photographic camera 650, the images from the navigation camera 651, and the data from the altitude sensor 1204 to hover. The hovering module 964 makes a preliminary determination whether it is safe to fly by trying to hover in a stable manner in a suitable position. The hovering module 964 uses the power required for hovering to determine the wind speed. If the wind speed is too strong to fly or is above a threshold value, such as 10MPH, which indicates that it is difficult for the hovering module 964 to keep the autonomous drone 710 stable or in one position, the hovering module 964 lands in a suitable position. The initial portion of the flight may be somewhat unpredictable as the person 1006 may move their hands or launch the autonomous drone 710. Thus, the initial hover 1206 may be performed at different locations depending on how the autonomous drone 710 takes off from an open hand 1202 or another location.

[0159] The navigation system 916 then determines waypoints 910, such as waypoint 1 1206, and navigates the autonomous drone 710 to waypoint 1 1206, which may be one foot above the person 1006 and two feet in front of the face 1002. The position of the autonomous drone 710 is determined relative to the face 1002, the person 1006, or another object. The camera 650 may continue to capture images that are used to determine the position of the autonomous drone 710 relative to the person 1006 or the face 1002.

[0160] During the portion of the flight using the first type of navigation, which is a period of time until the transition to the second type of navigation 1212, the autonomous drone 710 is capturing images using the photographic camera 650, the navigation camera 651, and the sensor data 912 used by the second navigation module 961 to build a coherent model so that the second navigation module 961 can take over navigation of the autonomous drone 710. According to some examples, the second navigation module 961 determines waypoint 1 1208 and waypoint 2 1210.

[0161] During the first type of navigation, another object or additional objects may be used in addition to the person 1006 or the face 1002. The first navigation module 962 determines waypoint 2 1208 and navigates to waypoint 2 1208, which may be moving to the side position of the person 1006 and maintaining the same altitude and distance as the person 1006. There may be other waypoints 910 before transitioning to the second type of navigation 1212 where the second navigation module 961 takes over and determines the flight plan 911.

[0162] Fig.13 A method 1300 for stabilization and navigation of an autonomous drone is shown according to some examples. The method 1300 begins at operation 1302 by capturing an image using an image capture device of the autonomous drone. For example, Fig.10 and Fig.11 The camera device 650 of the autonomous drone 710 captures an image of the face 1002 of the person 1006. The method 1300 continues at operation 1304 by processing the image to identify the object. For example, as combined with Fig. 9 As discussed herein, facial recognition module 970 processes an image from camera 650 to determine whether the image contains an initial face 968 and to determine a distance 1004 .

[0163] Method 1300 continues with operation 1306 of navigating the autonomous drone for a period of time based on a first type of navigation, wherein the first type of navigation is based on a position of the autonomous drone relative to an object. Fig.12 The first type of navigation is performed until transitioning to the second type of navigation 1212.

[0164] The method 1300 continues at operation 1308 with navigating the autonomous drone based on the second type of navigation after a certain period of time. Fig.12 , after transitioning to the second type of navigation 1212, the autonomous drone 710 navigates according to the second type of navigation.

[0165] The method 1300 may be performed by one or more devices or devices discussed herein, alone or in combination with each other. For example, the autonomous drone 710, the messaging system 100, the smart phone 708, another device or device may perform the method 1300 alone or in combination with each other. One or more of the operations of the method 1300 may be optional. The method 1300 may include one or more additional operations. One or more operations of the method 1300 may be performed in a different order.

[0166] Machine Architecture

[0167] Fig.141400 within which instructions 1410 (e.g., software, programs, applications, applet, app, or other executable code) may be executed for causing the machine 1400 to perform any one or more of the methods discussed herein. For example, the instructions 1410 may cause the machine 1400 to perform any one or more of the methods described herein. The instructions 1410 convert a general purpose, unprogrammed machine 1400 into a specific machine 1400 that is programmed to perform the functions described and illustrated in the manner described. The machine 1400 may operate as a standalone device or may be coupled (e.g., networked) to other machines. In a networked deployment, the machine 1400 may operate as a server machine or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The machine 1400 may include, but is not limited to, a server computer, a client computer, a personal computer (PC), a tablet computer, a laptop computer, a netbook, a set-top box (STB), a personal digital assistant (PDA), an entertainment media system, a cellular phone, a smart phone, a mobile device, a wearable device (e.g., a smart watch), a smart home device (e.g., a smart appliance), other smart devices, a web appliance, a network router, a network switch, a network bridge, or any machine capable of sequentially or otherwise executing instructions 1410 specifying actions to be taken by the machine 1400. In addition, although only a single machine 1400 is shown, the term "machine" should also be considered to include a collection of machines that individually or jointly execute instructions 1410 to perform any one or more of the methods discussed herein. For example, the machine 1400 may include any of the client device 102 or a plurality of server devices that form part of the messaging server system 108. In some examples, the machine 1400 may also include both a client system and a server system, wherein certain operations of a particular method or algorithm are performed on the server side and certain operations of a particular method or algorithm are performed on the client side.

[0168] The machine 1400 may include a processor 1404, a memory 1406, and an input / output I / O component 1402, which may be configured to communicate with each other via a bus 1440. In an example, the processor 1404 (e.g., a central processing unit (CPU), a reduced instruction set computing (RISC) processor, a complex instruction set computing (CISC) processor, a graphics processing unit (GPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a radio frequency integrated circuit (RFIC), another processor, or any suitable combination thereof) may include, for example, a processor 1408 that executes instructions 1410 and a processor 1412. The term "processor" is intended to include multi-core processors, which may include two or more independent processors (sometimes referred to as "cores") that can execute instructions simultaneously. Although Fig.14 Multiple processors 1404 are shown, but the machine 1400 may include a single processor with a single core, a single processor with multiple cores (e.g., a multi-core processor), multiple processors with a single core, multiple processors with multiple cores, or any combination thereof.

[0169] The memory 1406 includes a main memory 1414, a static memory 1416, and a storage unit 1418, which can be accessed by the processor 1404 via the bus 1440. The main memory 1406, the static memory 1416, and the storage unit 1418 store instructions 1410 that implement any one or more of the methods or functions described herein. The instructions 1410 may also reside, completely or partially, within the main memory 1414, within the static memory 1416, within the machine-readable medium 1420 within the storage unit 1418, within at least one of the processors 1404 (e.g., within a cache memory of a processor), or within any suitable combination thereof during execution thereof by the machine 1400.

[0170] I / O components 1402 may include various components for receiving input, providing output, generating output, sending information, exchanging information, capturing measurements, etc. The specific I / O components 1402 included in a particular machine will depend on the type of machine. For example, a portable machine such as a mobile phone may include a touch input device or other such input mechanism, while a headless server machine may not include such a touch input device. It will be appreciated that I / O components 1402 may include Fig.141402. In various examples, the I / O components 1402 may include a user output component 1426 and a user input component 1428. The user output component 1426 may include a visual component (e.g., a display such as a plasma display panel (PDP), a light emitting diode (LED) display, a liquid crystal display (LCD), a projector, or a cathode ray tube (CRT)), an acoustic component (e.g., a speaker), a tactile component (e.g., a vibration motor, a resistance mechanism), other signal generators, etc. The user input component 1428 may include an alphanumeric input component (e.g., a keyboard, a touch screen configured to receive alphanumeric input, an optical keyboard, or other alphanumeric input component), a pointing-based input component (e.g., a mouse, a touch pad, a trackball, a joystick, a motion sensor, or another pointing instrument), a tactile input component (e.g., a physical button, a touch screen that provides the location and force of a touch or touch gesture, or other tactile input component), an audio input component (e.g., a microphone), etc.

[0171] In another example, the I / O component 1402 may include a biometric component 1430, a motion component 1432, an environmental component 1434, or a positioning component 1436, as well as various other components. For example, the biometric component 1430 includes components for detecting expressions (e.g., hand expressions, facial expressions, voice expressions, body postures, or eye tracking), measuring biosignals (e.g., blood pressure, heart rate, body temperature, sweating, or brain waves), identifying people (e.g., voice recognition, retinal recognition, facial recognition, fingerprint recognition, or EEG-based recognition), etc. The motion component 1432 includes an acceleration sensor component (e.g., an accelerometer), a gravity sensor component, and a rotation sensor component (e.g., a gyroscope).

[0172] Environmental components 1434 include, for example, one or more cameras (with still imaging / video and video capture capabilities), lighting sensor components (e.g., photometers), temperature sensor components (e.g., one or more thermometers that detect ambient temperature), humidity sensor components, pressure sensor components (e.g., barometers), acoustic sensor components (e.g., one or more microphones that detect background noise), proximity sensor components (e.g., infrared sensors that detect nearby objects), gas sensors (e.g., gas detection sensors that detect concentrations of hazardous gases for safety or measure pollutants in the atmosphere), or other components that can provide indications, measurements, or signals corresponding to the surrounding physical environment.

[0173] With respect to cameras, client device 102 can have a camera system including, for example, a front-facing camera on a front surface of client device 102 and a rear-facing camera on a rear surface of client device 102. The front-facing camera can, for example, be used to capture still images and videos (e.g., “selfies”) of a user of client device 102, which can then be enhanced using the enhancement data (e.g., filters) described above. The rear-facing camera can, for example, be used to capture still images and videos in a more traditional camera mode, where the images are similarly enhanced using the enhancement data. In addition to the front-facing camera and the rear-facing camera, client device 102 can also include a 360° camera for capturing 360° photos and videos.

[0174] Additionally, the camera system of the client device 102 may include dual rear cameras (e.g., a main camera and a depth sensing camera), or even three, four, or five rear camera configurations on the front and back sides of the client device 102. For example, these multi-camera systems may include a wide-angle camera, an ultra-wide-angle camera, a telephoto camera, a macro camera, and a depth sensor.

[0175] The positioning component 1436 includes a position sensor component (for example, a GPS receiver component), an altitude sensor component (for example, an altimeter or a barometer that detects air pressure, and the altitude can be obtained based on the air pressure), an orientation sensor component (for example, a magnetometer), etc.

[0176] Various technologies may be used to achieve communication. The I / O components 1402 also include a communication component 1438 that is operable to couple the machine 1400 to the network 1422 or device 1424 via a corresponding coupling or connection. For example, the communication component 1438 may include a network interface component or another suitable device that interfaces with the network 1422. In other examples, the communication component 1438 may include a wired communication component, a wireless communication component, a cellular communication component, a near field communication (NFC) component, Parts (e.g. Low energy consumption), Device 1424 may be another machine or any of a variety of peripherals (eg, a peripheral coupled via USB).

[0177] In addition, the communication component 1438 can detect the identifier, or include a component that is operable to detect the identifier. For example, the communication component 1438 can include a radio frequency identification (RFID) tag reader component, an NFC smart tag detection component, an optical reader component (e.g., an optical sensor for detecting one-dimensional bar codes such as universal product codes (UPC) bar codes, multi-dimensional bar codes such as quick response (QR) codes, Aztec codes, data matrix, data symbols (Dataglyph), MaxiCode, PDF417, Ultra Code, UCC RSS-2D bar codes, and other optical codes) or an acoustic detection component (e.g., a microphone for identifying an audio signal of a tag). In addition, various information can be obtained via the communication component 1438, such as location via Internet Protocol (IP) geolocation, ... Signal triangulation to obtain location, location obtained via detection of NFC beacon signals that can indicate a specific location, etc.

[0178] Various memories (e.g., main memory 1414, static memory 1416, and memory of processor 1404) and storage unit 1418 may store one or more sets of instructions and data structures (e.g., software) implemented or used by any one or more of the methods or functions described herein. These instructions (e.g., instructions 1410) when executed by processor 1404 cause various operations to implement the disclosed examples.

[0179] The instructions 1410 may be sent or received via a network interface device (e.g., a network interface component included in the communication component 1438) using a transmission medium and using any of several well-known transmission protocols (e.g., Hypertext Transfer Protocol (HTTP)) over the network 1422. Similarly, the instructions 1410 may be sent or received via a coupling (e.g., a peer-to-peer coupling) with the device 1424 using a transmission medium.

[0180] Software Architecture

[0181] Fig.151500 is a block diagram illustrating a software architecture 1504 that may be installed on any one or more of the devices described herein. The software architecture 1504 is supported by hardware, such as a machine 1502, including a processor 1520, a memory 1526, and an I / O component 1538. In this example, the software architecture 1504 may be conceptualized as a stack of layers in which each layer provides specific functionality. The software architecture 1504 includes layers, such as an operating system 1512, a library 1510, a framework 1508, and an application 1506. In operation, the application 1506 invokes an API call 1550 through the software stack and receives a message 1552 in response to the API call 1550.

[0182] The operating system 1512 manages hardware resources and provides public services. The operating system 1512 includes, for example, a kernel 1514, a service 1516, and a driver 1522. The kernel 1514 acts as an abstraction layer between the hardware and other software layers. For example, the kernel 1514 provides functions such as memory management, processor management (e.g., scheduling), component management, networking, and security settings. The service 1516 can provide other public services to other software layers. The driver 1522 is responsible for controlling or interfacing with the underlying hardware. For example, the driver 1522 may include a display driver, a camera driver, or Low energy drivers, Flash drivers, Serial communication drivers (e.g., USB drivers), Drivers, audio drivers, power management drivers, etc.

[0183] The libraries 1510 provide a common low-level infrastructure used by the applications 1506. The libraries 1510 may include system libraries 1518 (e.g., C standard libraries) that provide functions such as memory allocation functions, string manipulation functions, mathematical functions, etc. In addition, the libraries 1510 may include API libraries 1524, such as media libraries (e.g., libraries for supporting presentation and manipulation of various media formats, such as Moving Picture Experts Group-4 (MPEG4), Advanced Video Coding (H.264 or AVC), Moving Picture Experts Group Layer-3 (MP3), Advanced Audio Coding (AAC), Adaptive Multi-Rate (AMR) audio codec, Joint Photographic Experts Group (JPEG or JPG), or Portable Network Graphics (PNG)), graphics libraries (e.g., OpenGL framework for presentation in two dimensions (2D) and three dimensions (3D) in graphics content on a display), database libraries (e.g., SQLite providing various relational database functions), web libraries (e.g., WebKit providing web browsing functions), etc. The library 1510 may also include various other libraries 1528 to provide many other APIs to the application 1506 .

[0184] The framework 1508 provides a common high-level infrastructure used by the applications 1506. For example, the framework 1508 provides various graphical user interface (GUI) functions, advanced resource management, and advanced location services. The framework 1508 can provide a wide range of other APIs that can be used by the applications 1506, some of which may be specific to a particular operating system or platform.

[0185] In an example, applications 1506 may include a home application 1536, a contact application 1530, a browser application 1532, a book reader application 1534, a location application 1542, a media application 1544, a messaging application 1546, a game application 1548, and a variety of other applications such as third-party applications 1540. As disclosed in conjunction with the autonomous drone management system 216 and herein, the autonomous drone management 1541 system manages the autonomous drones. Applications 1506 are programs that execute functions defined in the programs. Various programming languages ​​may be used to create one or more of the applications 1506 constructed in various ways, such as an object-oriented programming language (e.g., Objective-C, Java, or C++) or a procedural programming language (e.g., C language or assembly language). In a specific example, third-party applications 1540 (e.g., those created by an entity other than the vendor of a particular platform using ANDROID TM or IOS TM Software Development Kit (SDK) can be used to develop applications on platforms such as IOS TM ANDROID TM , Mobile software running on the mobile operating system of the phone or other mobile operating systems. In this example, third-party applications 1540 can activate API calls 1550 provided by the operating system 1512 to facilitate the functions described herein.

[0186] Processing components

[0187] Now go to Fig.16 , which shows a diagrammatic representation of a processing environment 1600 that includes a processor 1602, a processor 1606, and a processor 1608 (eg, a GPU, a CPU, or a combination thereof).

[0188] Processor 1602 is shown coupled to power source 1604 and includes modules (permanently configured or temporarily instantiated), namely, a first type of navigation component 1610, a second type of navigation component 1612, and a facial recognition component 1614. The first type of navigation component 1610 controls the autonomous drone to perform a first type of navigation. For example, according to some examples, the first type of navigation component 1610 performs the functions described in conjunction with takeoff module 966, hover module 964, and first navigation module 962. The second type of navigation component 1612 performs functions related to navigating the autonomous drone according to the second type of navigation according to the second navigation module 961. The hover component 1614 manages the hovering of the autonomous drone and performs the functions disclosed in conjunction with the hover module 964. According to some examples, the facial recognition component 1614 performs the functions of the facial recognition module 970.

[0189] According to some examples, processor 1602 is a dedicated processor 1602 specifically designed for autonomous drone 710. In some examples, processor 1602 is part of a motherboard, where processor 1602 runs a real-time operating system or a processor such as Processor 1602 communicates with other processing circuit systems included in autonomous drone 710, such as component 600.

[0190] Glossary

[0191] "Carrier signal" refers to any intangible medium that can store, encode or carry instructions for execution by a machine and includes digital or analog communication signals or other intangible media that facilitates communication of such instructions. Instructions may be sent or received over a network via a network interface device using transmission media.

[0192] "Client Device" refers to any machine that interfaces with a communications network to obtain resources from one or more server systems or other client devices. A client device may be, but is not limited to, a mobile phone, a desktop computer, a laptop computer, a portable digital assistant (PDA), a smart phone, a tablet computer, an ultrabook, a netbook, a laptop computer, a multiprocessor system, a microprocessor-based or programmable consumer electronics product, a game console, a set-top box, or any other communications device that a user may use to access a network.

[0193] "Communications network" means one or more parts of a network, which may be an ad hoc network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless LAN (WLAN), a wide area network (WAN), a wireless WAN (WWAN), a metropolitan area network (MAN), the Internet, a part of the Internet, a part of the public switched telephone network (PSTN), a plain old telephone service (POTS) network, a cellular telephone network, a wireless network, A network, other type of network, or a combination of two or more such networks. For example, the network or a portion of the network may include a wireless network or a cellular network, and the coupling may be a code division multiple access (CDMA) connection, a global mobile communication system (GSM) connection, or other type of cellular or wireless coupling. In this example, the coupling may implement any of various types of data transmission technologies, such as single carrier radio transmission technology (1xRTT), evolution data optimized (EVDO) technology, general packet radio service (GPRS) technology, enhanced data rate for GSM evolution (EDGE) technology, the third generation partnership project (3GPP) including 3G, fourth generation wireless (4G) network, universal mobile telecommunications system (UMTS), high speed packet access (HSPA), world wide interoperability for microwave access (WiMAX), long term evolution (LTE) standard, other standards defined by various standard setting organizations, other long distance protocols, or other data transmission technologies.

[0194] "Component" refers to a device, a physical entity, or logic with boundaries defined by function or subroutine calls, branch points, APIs, or other technical definitions that provide partitioning or modularization for specific processing or control functions. Components can be combined with other components via their interfaces to perform machine processing. Components can be packaged functional hardware units designed for use with other components and can be part of a program that generally performs specific functions in related functions. Components can constitute software components (e.g., codes implemented on machine-readable media) or hardware components. "Hardware components" are tangible units that can perform certain operations and can be configured or arranged in a certain physical manner. In various examples, one or more computer systems (e.g., independent computer systems, client computer systems, or server computer systems) or one or more hardware components (e.g., processors or processor groups) of a computer system can be configured by software (e.g., applications or application parts) to operate to perform certain operations as described herein. Hardware components can also be implemented mechanically, electronically, or in any suitable combination thereof. For example, a hardware component may include a dedicated circuit system or logic that is permanently configured to perform certain operations. The hardware component may be a dedicated processor, such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC). The hardware component may also include a programmable logic or circuit system that is temporarily configured to perform certain operations by software. For example, the hardware component may include software executed by a general-purpose processor or other programmable processor. Once configured by such software, the hardware component becomes a specific machine (or a specific component of a machine) that is uniquely customized to perform the configured function and is no longer a general-purpose processor. It should be understood that the decision to implement the hardware component mechanically, in a dedicated and permanently configured circuit system, or in a temporarily configured (e.g., configured by software) circuit system can be driven by cost and time considerations. Therefore, the phrase "hardware component" (or "hardware-implemented component") should be understood to include a tangible entity, that is, an entity that is physically constructed, permanently configured (e.g., hardwired) or temporarily configured (e.g., programmed) to operate in some way or perform certain operations described herein. Considering an example in which a hardware component is temporarily configured (e.g., programmed), it is not necessary to configure or instantiate each of the hardware components at any one time. For example, where a hardware component includes a general purpose processor that is configured as a special purpose processor by software, the general purpose processor may be respectively configured as different special purpose processors (e.g., including different hardware components) at different times. Software accordingly configures one or more specific processors to, for example, constitute a specific hardware component at one time and constitute different hardware components at different times. Hardware components may provide information to other hardware components and receive information from other hardware components. Therefore, the described hardware components may be considered to be communicatively coupled.In the case of multiple hardware components being present at the same time, communication can be achieved by signal transmission (e.g., by appropriate circuits and buses) between or among two or more hardware components in the hardware components. In examples where multiple hardware components are configured or instantiated at different times, communication between such hardware components can be achieved, for example, by storing information in a memory structure accessed by multiple hardware components and retrieving information in the memory structure. For example, a hardware component can perform an operation, and the output of the operation is stored in a memory device coupled to it in communication. Then, other hardware components can access the memory device at a subsequent time to retrieve the stored output and process it. The hardware component can also initiate communication with an input device or an output device, and can operate on resources (e.g., the collection of information). The various operations of the example methods described herein can be performed at least in part by one or more processors that are temporarily configured (e.g., by software) or permanently configured to perform related operations. Whether it is temporarily configured or permanently configured, such a processor can constitute a processor-implemented component that operates to perform one or more operations or functions described herein. As used herein, "processor-implemented components" refer to hardware components implemented using one or more processors. Similarly, the method described herein can be implemented at least in part by a processor, wherein one or more specific processors are examples of hardware. For example, at least some of the operation of the method can be performed by one or more processors or the components implemented by the processor. In addition, one or more processors can also operate to support the execution of related operations in a "cloud computing" environment or as a "software as a service" (SaaS) operation. For example, at least some of the operations in the operation can be performed by a computer group (as an example of a machine including a processor), wherein these operations can be accessed via a network (e.g., the Internet) and via one or more appropriate interfaces (e.g., API). The execution of some operations in the operation can be distributed between processors, not only resident in a single machine, but deployed across multiple machines. In some examples, a processor or a component implemented by a processor can be located in a single geographic location (e.g., in a home environment, an office environment, or a server cluster). In other examples, a processor or a component implemented by a processor can be distributed across multiple geographic locations.

[0195] "Computer-readable storage media" refers to both machine storage media and transmission media. Thus, the term includes both storage devices / media and carrier / modulated data signals. The terms "machine-readable medium," "computer-readable medium," and "device-readable medium" mean the same thing and may be used interchangeably in this disclosure.

[0196] "Ephemeral messages" are messages that are accessible for a limited duration of time. Ephemeral messages can be text, images, videos, etc. The access time for ephemeral messages can be set by the message sender. Alternatively, the access time can be a default setting or a setting specified by the recipient. Regardless of the setting technique, the message is ephemeral.

[0197] "Machine storage media" refers to a single or multiple storage devices and media (e.g., centralized or distributed databases, and associated caches and servers) that store executable instructions, routines, and data. Thus, the term should be considered to include, but is not limited to, solid-state memory and optical and magnetic media, including memory internal or external to the processor. Specific examples of machine storage media, computer storage media, and device storage media include: non-volatile memory, including, for example, semiconductor memory devices such as erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), FPGA, and flash memory devices; magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. The terms "machine storage media", "device storage media", and "computer storage media" mean the same thing and may be used interchangeably in this disclosure. The terms "machine storage media", "computer storage media", and "device storage media" expressly exclude carrier waves, modulated data signals, and other such media, at least some of which are encompassed by the term "signal media".

[0198] “Non-transitory computer-readable storage medium” refers to tangible media capable of storing, encoding, or carrying instructions to be executed by a machine.

[0199] "Signal medium" refers to any intangible medium that is capable of storing, encoding or carrying instructions executed by a machine, and "signal medium" includes digital or analog communication signals or other intangible media that facilitate the communication of software or data. The term "signal medium" should be deemed to include any form of modulated data signals, carrier waves, etc. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The terms "transmission medium" and "signal medium" mean the same thing and may be used interchangeably in this disclosure.

Claims

1. An autonomous drone device, the device comprising: at least one processor; as well as a memory storing instructions that, when executed by the at least one processor, configure the at least one processor to perform operations comprising: capturing images using an image capture device of the autonomous drone; processing the image to identify an object; navigating the autonomous drone based on a first type of navigation for a period of time, wherein the first type of navigation is based on a position of the autonomous drone relative to the object; and The autonomous drone is navigated based on a second type of navigation after the certain period of time.

2. The device according to claim 1, wherein: The second type of navigation is based on structure-from-motion navigation.

3. The device according to claim 1, wherein: The second type of navigation is based on one or more of visual inertial odometry, optical flow, or simultaneous localization and mapping (SLAM).

4. The device according to claim 1, wherein: The second type of navigation is simultaneous positioning and mapping.

5. The device according to claim 1, wherein: Navigating the autonomous drone based on the first type of navigation further includes: The autonomous drone is navigated to one or more waypoints relative to the object.

6. The device according to any one of claims 1 to 5, wherein: The object is a person or a face.

7. The device according to any one of claims 1 to 5, wherein: The operations also include: A height above the ground is determined based on sensor data, and wherein navigating the autonomous drone based on the first type of navigation is also based on the height above the ground.

8. The device according to any one of claims 1 to 5, wherein: The operations also include: capturing images using the image capture device during the certain period of time; and The image is processed to transition to the second type of navigation.

9. The device according to claim 8, wherein: The image capture device is a first image capture device, wherein the first image capture device is mounted horizontally relative to an axis of a propeller of the autonomous drone, and the second image capture device is mounted vertically relative to the axis of the propeller and faces downward, and wherein the operations further comprise: Images are captured using the first image capture device in the first type of navigation.

10. The device according to any one of claims 1 to 5, wherein: The operations also include: After processing the image to identify the object, take off from the hand.

11. The device according to any one of claims 1 to 5, wherein: The operations also include: A distance between the autonomous drone and the object is determined.

12. The device according to claim 11, wherein: The determination is made based on the number of pixels of the image sensor that the object occupies in the captured image and an estimated size of the object.

13. The device according to any one of claims 1 to 5, wherein: The operations also include: hovering at a constant position relative to the object; determining wind speed based on power applied to an electric motor operating a propeller of the autonomous drone; and In response to determining that the wind speed is above a threshold, the autonomous drone is landed.

14. The device according to any one of claims 1 to 5, wherein: Navigating the autonomous drone based on the first type of navigation is based on identifying the object in subsequent images captured by the image capture device and orienting the autonomous drone in space relative to the object.

15. The device according to any one of claims 1 to 5, wherein: The operations also include: The second image is processed to determine one or more additional objects, and wherein navigating the autonomous drone based on the first type of navigation is also based on the one or more additional objects.

16. The device according to any one of claims 1 to 5, wherein: The image is a first image, and wherein navigating the autonomous drone based on the first type of navigation further comprises: navigating to a first waypoint based on a first position of the object determined from the first image; capturing a second image; navigating to a second waypoint based on a second position of the object determined from the second image; and A third image is captured.

17. A method performed on an apparatus of an autonomous drone, the method comprising: capturing images using an image capture device of the autonomous drone; processing the image to identify an object; navigating the autonomous drone based on a first type of navigation for a period of time, wherein the first type of navigation is based on a position of the autonomous drone relative to the object; as well as The autonomous drone is navigated based on a second type of navigation after the certain period of time.

18. The method according to claim 17, wherein: The second type of navigation is based on one or more of structure-from-motion navigation, visual-inertial odometry, optical flow, or simultaneous localization and mapping (SLAM).

19. A non-transitory computer-readable storage medium comprising instructions that, when executed by at least one processor of a device of an autonomous drone, cause the at least one processor to perform operations comprising: capturing images using an image capture device of the autonomous drone; processing the image to identify an object; navigating the autonomous drone based on a first type of navigation for a period of time, wherein the first type of navigation is based on a position of the autonomous drone relative to the object; as well as The autonomous drone is navigated based on a second type of navigation after the certain period of time.

20. The non-transitory computer readable storage medium of claim 19, wherein: The second type of navigation is based on structure-from-motion navigation.

Images