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`Attorney Docket No.
`
`45236-734.301
`
`First Inventor
`
`Bo Zang
`
`Title
`
`Systems and Methods for Target Tracking
`
`Express Mail Label No. E-Filed August 28, 2014
`
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`6597769 _ 1.doc
`
`Yuneec Exhibit 1003 Page 1
`
`

`
`WSGR Docket No. 45236-734.301
`
`U.S. UTILITY PATENT APPLICATION
`
`SYSTEMS AND METHODS FOR TARGET TRACKING
`
`Inventor(s): Bo ZANG,
`Citizen of China, Residing at
`17 /F, West Wing, Skyworth Semiconductor Design Building
`No. 18 Gaoxin South 4th Avenue
`N anshan District
`Shenzhen City
`China, 518057
`
`Assignee:
`
`SZ DJI TECHNOLOGY Co., Ltd
`17 /F, West Wing, Skyworth Semiconductor Design Building
`No. 18 Gaoxin South 4th Avenue
`N anshan District
`Shenzhen City
`China, 518057
`
`Entity:
`
`Large business concern
`
`650 Page Mill Road
`
`Palo Alto, CA 94304
`
`(650) 493-9300 (Main)
`
`( 650) 493-6811 (Facsimile)
`
`Filed Electronically on: August 28, 2014
`
`Yuneec Exhibit 1003 Page 2
`
`

`
`SYSTEMS AND METHODS FOR TARGET TRACKING
`
`[0001] This application is a continuation application oflntemational Application
`
`No. PCT/CN2014/083315, filed on July 30, 2014, the content of which is hereby incorporated by
`
`CROSS-REFERENCE
`
`reference in its entirety.
`
`BACKGROUND OF THE INVENTION
`
`[0002]
`
`Aerial vehicles such as unmanned aerial vehicles (UAVs) can be used for performing
`
`surveillance, reconnaissance, and exploration tasks for military and civilian applications. Such aerial
`
`vehicles may carry a payload configured to perform a specific function such as capturing images of
`
`surrounding environment.
`
`[0003]
`
`In some instances, it may be desirable for aerial vehicles to track a specific target.
`
`For small-sized aerial vehicles, such tracking is traditionally achieved via control commands from a
`
`user-operated remote control terminal or device. Such manual tracking control may become difficult
`
`in certain circumstances, such as when the movable object or target is moving quickly or when the
`
`movable object is at least partially blocked from view of the user. Furthermore, the attention
`
`necessary for such manual tracking typically requires a dedicated user that controls a camera that
`
`onboard the aerial vehicle separate from a user that controls the navigation of the aerial vehicle,
`
`thereby increasing the cost for aerial photography and other applications of the aerial vehicles.
`
`SUMMARY OF THE INVENTION
`
`[0004]
`
`In some instances, it may be desirable for aerial vehicles to track a specific target. Thus,
`
`a need exists for improved UAV tracking methods and systems that provides automatic or semi(cid:173)
`
`automatic tracking of a target, thereby relieving operators of the aerial vehicles of manually tracking
`
`the targets. The present invention provides systems, methods, and devices related to target tracking
`
`by UA Vs. The UA V may be configured to receive target information from a control terminal related
`
`to a target to be tracked by an imaging device coupled to the UAV. The target information may be
`
`used by the UAV to automatically track the target so as to maintain predetermined position and/or
`
`size of the target within one or more images captured by the imaging device. Any description of
`
`tracking may include visual tracking by the imaging device. The control terminal may be configured
`
`to display images from the imaging device as well as allowing user input related to the target
`
`information.
`
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`

`
`[0005]
`
`According to an aspect of the present invention, a method for controlling an unmanned
`
`aerial vehicle (UAV) is provided. The method comprises: receiving, from a remote user, one or
`
`more navigation commands to move the UA V along a flight path; receiving, from the remote user,
`
`target information of a target to be tracked by an imaging device on the UAV; and tracking the target
`
`according to the target information by automatically adjusting at least one of the UA V or the
`
`imaging device while the UAV moves along the flight path according to the one or more navigation
`
`commands from the remote user.
`
`[0006]
`
`According to another aspect of the present invention, an unmanned aerial vehicle (UA V)
`
`with tracking capabilities is provided. The UAV comprises: one or more receivers, individually or
`
`collectively, configured to receive from a remote user (1) one or more navigation commands to
`
`move the UA V along a flight path, and (2) target information of a target to be tracked by an imaging
`
`device on the UAV; and one or more processors, individually or collectively, configured to track the
`
`target according to the target information by automatically adjusting at least one of the UA V or the
`
`imaging device while the UAV moves along the flight path according to the one or more navigation
`
`commands from the remote user.
`
`[0007]
`
`According to another aspect of the present invention, s system for controlling an
`
`unmanned aerial vehicle (UAV) is provided. The system comprises: one or more receivers,
`
`individually or collectively, configured to receive from a remote user (1) one or more navigation
`
`commands to move the UAV along a flight path, and (2) target information of a target to be tracked
`
`by an imaging device on the UAV; and one or more processors, individually or collectively,
`
`configured to track the target according to the target information by automatically adjusting at least
`
`one of the UA V or the imaging device while the UA V moves along the flight path according to the
`
`one or more navigation commands from the remote user.
`
`[0008]
`
`[0009]
`
`In some embodiments, the imaging device includes a camera or a camcorder.
`
`In some embodiments, the one or more navigation commands are adapted to control a
`
`speed, position or attitude or the UAV.
`
`[0010]
`
`[0011]
`
`[0012]
`
`[0013]
`
`In some embodiments, the target is substantially stationary relative to a reference object.
`
`In some embodiments, the target is moving relative to a reference object.
`
`In some embodiments, the target information includes initial target information.
`
`In some embodiments, the initial target information includes an initial position or an
`
`initial size of the target within an image captured by the imaging device.
`
`[0014]
`
`In some embodiments, the target information includes target type information.
`
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`

`
`[0015]
`
`In some embodiments, tracking the target according to the target information further
`
`includes identifying, based on the target type information, the target to track from within one or
`
`more images captured by the imaging device using an image recognition algorithm.
`
`[0016]
`
`In some embodiments, the target type information includes color, texture, or pattern
`
`information.
`
`[0017]
`
`[0018]
`
`In some embodiments, the target information includes expected target information.
`
`In some embodiments, the expected target information includes an expected position or
`
`an expected size of the target within an image captured by the imaging device.
`
`[0019]
`
`target.
`
`[0020]
`
`In some embodiments, the expected size of the target is the same as an initial size of the
`
`In some embodiments, the expected position of the target is the same as an initial position
`
`of the target.
`
`[0021]
`
`In some embodiments, tracking the target according to the target information includes
`
`maintaining, within a predetermined degree of tolerance, the expected position, or the expected size
`
`of the target within one or more images captured by the imaging device.
`
`[0022]
`
`In some embodiments, the imaging device is coupled to the UA V via a carrier configured
`
`to permit the imaging device to move relative to the UAV.
`
`[0023]
`
`In some embodiments, the carrier is configured to permit the imaging device to rotate
`
`around at least two axes relative to the UAV.
`
`[0024]
`
`In some embodiments, tracking the target according to the target information includes
`
`automatically adjusting at least one of the UAV, the carrier, or the imaging device while the UAV
`
`moves along the flight path according to the one or more navigation commands from the remote
`
`user.
`
`[0025]
`
`In some embodiments, the target information includes expected target information and
`
`tracking the target according to the target information comprises: determining current target
`
`information of the target based on one or more images captured by the imaging device; detecting a
`
`deviation of the current target information from the expected target information; and calculating an
`
`adjustment to the UAV, the carrier, or the imaging device so as to substantially correct the deviation.
`
`[0026]
`
`In some embodiments, the deviation is related to a change in position of the target and the
`
`calculated adjustment is related to an angular velocity for the UAV.
`
`[0027]
`
`[0028]
`
`In some embodiments, the angular velocity is relative to a yaw axis of the UAV.
`
`In some embodiments, the angular velocity is relative to a pitch axis of the UAV.
`
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`

`
`[0029]
`
`In some embodiments, the deviation is related to a change in position of the target and the
`
`calculated adjustment is related to an angular velocity for the imaging device relative to the UAV.
`
`[0030]
`
`In some embodiments, the calculated adjustment is used to generate control signals for
`
`the carrier so as to cause the imaging device to move relative to the UAV.
`
`[0031]
`
`In some embodiments, the deviation is related to a change in size of the target and the
`
`adjustment is related to a linear velocity for the UAV.
`
`[0032]
`
`In some embodiments, the deviation is related to a change in size of the target and the
`
`adjustment is related to one or more parameters of the imaging device.
`
`[0033]
`
`In some embodiments, the one or more parameters of the imaging device include focal
`
`length, zoom, or focus.
`
`[0034]
`
`[0035]
`
`In some embodiments, the calculated adjustment is limited to a predetermined range.
`
`In some embodiments, the predetermined range corresponds to a predetermined range of
`
`control lever amount of a control system.
`
`[0036]
`
`In some embodiments, the control system includes a flight control system for the UA V or
`
`a control system for the carrier.
`
`[0037]
`
`In some embodiments, a warning signal is provided if the calculated adjustment falls
`
`outside the predetermined range.
`
`[0038]
`
`In some embodiments, tracking the target comprises comparing the calculated adjustment
`
`to a predetermined maximum threshold value and providing the predetermined maximum threshold
`
`value if the calculated adjustment exceeds the predetermined maximum threshold value.
`
`[0039]
`
`In some embodiments, the predetermined maximum threshold value includes a maximum
`
`angular velocity or a maximum linear velocity for the UA V or the imaging device.
`
`[0040]
`
`In some embodiments, tracking the target comprises comparing the calculated adjustment
`
`to a predetermined minimum threshold value and providing the predetermined minimum threshold
`
`value if the calculated adjustment is less than the predetermined minimum threshold value.
`
`[0041]
`
`In some embodiments, the predetermined minimum threshold value includes a minimum
`
`angular velocity or a minimum linear velocity for the UA V or the imaging device.
`
`[0042]
`
`In some embodiments, the target information is received from a remote control device
`
`accessible to the remote user.
`
`[0043]
`
`In some embodiments, the one or more navigation commands are received from the same
`
`remote control device.
`
`[0044]
`
`In some embodiments, the one or more navigation commands are received from a
`
`different remote control device.
`
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`

`
`[0045]
`
`In some embodiments, the remote control device is configured to receive user input from
`
`a touchscreen, joystick, keyboard, mouse, or stylus.
`
`[0046]
`
`In some embodiments, the remote control device is configured to receive user input from
`
`a wearable device.
`
`[0047]
`
`In some embodiments, the remote control device is configured to: receive one or more
`
`images captured by the imaging device from the UAV; display the one or more images; receive a
`
`user selection of a target from within a displayed image; generate the target information of the target
`
`based on the user selection of the target; and transmit the target information to the UAV.
`
`[0048]
`
`In some embodiments, the remote control device is further configured to generate the one
`
`or more navigation commands based on user input and to transmit the one or more navigation
`
`commands to the UAV.
`
`[0049]
`
`In some embodiments, the remote control device is further configured to receive tracking
`
`information related to the target and to display the one or more images with the tracking information.
`
`[0050]
`
`According to an aspect of the present invention, an unmanned aerial vehicle (UAV) with
`
`tracking capabilities is provided. The UA V comprises: one or more receivers, individually or
`
`collectively, configured to receive, from a remote user, user-specified target information of a target
`
`to be tracked by an imaging device on the UAV, the user-specified target information including a
`
`predetermined position or a predetermined size of the target within an image captured by the
`
`imaging device, the imaging device coupled to the UA V via a carrier configured to permit the
`
`imaging device to move relative to the UAV; and one or more processors, individually or
`
`collectively, configured to: detect a deviation from the predetermined position or the predetermined
`
`size of the target based on one or more images captured by the imaging device; and generate
`
`commands to automatically adjust the UA V, the carrier, or the imaging device so as to substantially
`
`correct the detected deviation from the predetermined position or the predetermined size of the
`
`target.
`
`[0051]
`
`According to another aspect of the present invention, a system for controlling an
`
`unmanned aerial vehicle (UAV) is provided. The system comprises: one or more receivers,
`
`individually or collectively, configured to receive, from a remote user, user-specified target
`
`information of a target to be tracked by an imaging device on the UAV, the user-specified target
`
`information including a predetermined position or a predetermined size of the target within an image
`
`captured by the imaging device, the imaging device coupled to the UA V via a carrier configured to
`
`permit the imaging device to move relative to the UAV; and one or more processors, individually or
`
`collectively, configured to: detect a deviation from the predetermined position or the predetermined
`-5-
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`

`
`size of the target based on one or more images captured by the imaging device; and generate
`
`commands to automatically adjust the UA V, the carrier, or the imaging device so as to substantially
`
`correct the detected deviation from the predetermined position or the predetermined size of the
`
`target.
`
`[0052]
`
`According to another aspect of the present invention, a method for controlling an
`
`unmanned aerial vehicle (UAV) is provided. The method comprises: receiving, from a remote user,
`
`user-specified target information of a target to be tracked by an imaging device on the UA V, the
`
`user-specified target information including a predetermined position or predetermined size of the
`
`target within an image captured by the imaging device, the imaging device coupled to the UA V via a
`
`carrier configured to permit the imaging device to move relative to the UAV; detecting, by a
`
`processor onboard the UAV, a deviation from the predetermined position or the predetermined size
`
`of the target based on one or more images captured by the imaging device; and automatically
`
`adjusting the UAV, the carrier, or the imaging device so as to substantially correct the detected
`
`deviation from the predetermined position or the predetermined size of the target.
`
`[0053]
`
`[0054]
`
`In some embodiments, the imaging device includes a camera or a camcorder.
`
`In some embodiments, the method further comprises receiving, from the remote user, one
`
`or more commands adapted to control a speed, position, orientation or attitude or the UAV.
`
`[0055]
`
`In some embodiments, the method further comprises receiving, from the remote user, one
`
`or more commands adapted to control a speed, position, orientation or attitude or the carrier.
`
`[0056]
`
`In some embodiments, the method further comprises receiving, from the remote user, one
`
`or more commands adapted to control one or more operational parameters of the imaging device.
`
`[0057]
`
`In some embodiments, the one or more operational parameters of the imaging device
`
`include focal length, zoom level, imaging mode, image resolution, focus, depth of field, exposure,
`
`lens speed, or field of view.
`
`[0058]
`
`In some embodiments, the carrier is configured to permit the imaging device to rotate
`
`around at least one axes relative to the UAV.
`
`[0059]
`
`In some embodiments, the carrier is configured to permit the imaging device to rotate
`
`around at least two axes relative to the UAV.
`
`[0060]
`
`In some embodiments, the target information of the target further includes target type
`
`information.
`
`In some embodiments, the target type information includes a color or texture of the
`
`[0061]
`
`target.
`
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`

`
`[0062]
`
`In some embodiments, the predetermined position of the target includes an initial position
`
`or an expected position of the target.
`
`[0063]
`
`In some embodiments, the predetermined size of the target includes an initial size or an
`
`expected size of the target.
`
`[0064]
`
`In some embodiments, detecting the deviation from the predetermined position or the
`
`predetermined size of the target comprises comparing a position or size of the target within the one
`
`or more images captured by the imaging device with the predetermined position or predetermined
`
`size, respectively.
`
`[0065]
`
`In some embodiments, adjusting the UA V, the carrier, or the imaging device comprises
`
`calculating an adjustment to the UAV, the carrier, or the imaging device so as to substantially correct
`
`the deviation.
`
`[0066]
`
`In some embodiments, the deviation is related to a change in position of the target and the
`
`adjustment is related to an angular velocity for the UAV.
`
`[0067]
`
`[0068]
`
`[0069]
`
`In some embodiments, the angular velocity is relative to a yaw axis of the UAV.
`
`In some embodiments, the angular velocity is relative to a pitch axis of the UAV.
`
`In some embodiments, the deviation is related to a change in position of the target and the
`
`adjustment is related to an angular velocity for the imaging device relative to the UAV.
`
`[0070]
`
`In some embodiments, the adjustment is used to generate control signals for the carrier so
`
`as to cause the imaging device to move relative to the UAV.
`
`[0071]
`
`device.
`
`[0072]
`
`device.
`
`[0073]
`
`In some embodiments, the angular velocity is relative to a yaw axis of the imaging
`
`In some embodiments, the angular velocity is relative to a pitch axis of the imaging
`
`In some embodiments, the deviation is related to a change in size of the target and the
`
`adjustment is related to a linear velocity for the UAV.
`
`[0074]
`
`In some embodiments, the deviation is related to a change in size of the target and the
`
`adjustment is related to one or more parameters of the imaging device.
`
`[0075]
`
`In some embodiments, the one or more parameters of the imaging device include focal
`
`length, zoom level, imaging mode, image resolution, focus, depth of field, exposure, lens speed, or
`
`field of view.
`
`[0076]
`
`[0077]
`
`In some embodiments, the calculated adjustment is limited to a predetermined range.
`
`In some embodiments, the predetermined range corresponds to a predetermined range of
`
`control lever amount of a control system.
`
`6579946 l.docx
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`

`
`[0078]
`
`In some embodiments, the control system includes a navigation control system for the
`
`UAV or a control system for the carrier.
`
`[0079]
`
`In some embodiments, the method further comprises providing a warning signal if the
`
`adjustment falls outside the predetermined range.
`
`[0080]
`
`[0081]
`
`[0082]
`
`In some embodiments, the warning signal is used to provide an audio or visual signal.
`
`In some embodiments, the warning signal is used to provide a kinetic signal.
`
`In some embodiments, the method further comprises transmitting, in substantially real-
`
`time, images captured by the imaging device to a remote user device accessible to the remote user.
`
`[0083]
`
`In some embodiments, the remote user device comprises a display for displaying the
`
`images captured by the imaging device.
`
`[0084]
`
`In some embodiments, the remote user device comprises an input device for providing
`
`the target information.
`
`[0085]
`
`In some embodiments, the input device includes a touchscreen, joystick, keyboard,
`
`mouse, or stylus.
`
`[0086]
`
`[0087]
`
`images.
`
`[0088]
`
`In some embodiments, the input device includes a wearable device.
`
`In some embodiments, the target information is provided based on the transmitted
`
`In some embodiments, the method further comprises providing, in substantially real-time,
`
`tracking information of the target to the remote user device.
`
`[0089]
`
`In some embodiments, the remote user device is configured to: receive a user selection of
`
`the target from within one or more images displayed on the remote user device; and generate the
`
`target information of the target based on the user selection of the target.
`
`[0090]
`
`According to another aspect of the present invention, a method for controlling an
`
`unmanned aerial vehicle (UA V) is provided. The method comprises: displaying, via a display, one
`
`or more images captured by an imaging device coupled to the UAV in substantially real-time;
`
`receiving, via an input device, a user selection of a target from within at least one of the one or more
`
`images being displayed in substantially real-time; generating target information of the target based at
`
`least in part on the user selection of the target; and providing the target information to the UA V so as
`
`to allow the UA V autonomously track the target according to the target information.
`
`[0091]
`
`According to another aspect of the present invention, a system for controlling an
`
`unmanned aerial vehicle (UAV) is provided. The system comprises: a display configured to display
`
`one or more images captured by an imaging device coupled to the UAV; an input device configured
`
`to receive a user selection of a target from within at least one of the one or more images being
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`6579946 l.docx
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`WSGR Docket No. 45236-734.301
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`Yuneec Exhibit 1003 Page 10
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`

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`displayed on the display; one or more processors, individually or collectively, configured to generate
`
`target information of the target based at least in part on the user selection of the target; and a
`
`transmitter configured to provide the target information to the UA V so as to allow the UA V
`
`autonomously track the target according to the target information.
`
`[0092]
`
`According to another aspect of the present invention, an apparatus for controlling an
`
`unmanned aerial vehicle (UAV) is provided. The apparatus comprises: a display configured to
`
`display one or more images captured by an imaging device coupled to the UAV; an input device
`
`configured to receive a user selection of a target from within at least one of the one or more images
`
`being displayed on the display; one or more processors, individually or collectively, configured to
`
`generate target information of the target based at least in part on the user selection of the target; and
`
`a transmitter configured to provide the target information to the UAV so as to allow the UAV
`
`autonomously track the target according to the target information.
`
`[0093]
`
`[0094]
`
`In some embodiments, the target information includes initial target information.
`
`In some embodiments, the initial target information includes an initial position or an
`
`initial size of the target within an image captured by the imaging device.
`
`[0095]
`
`In some embodiments, the initial target information is generated based on the user
`
`selection of the target.
`
`[0096]
`
`[0097]
`
`In some embodiments, the target information includes target type information.
`
`In some embodiments, the target type information includes color, texture, or pattern
`
`information.
`
`[0098]
`
`In some embodiments, the target type information is generated based on the user
`
`selection of the target.
`
`[0099]
`
`[0100]
`
`In some embodiments, the target information includes expected target information.
`
`In some embodiments, the expected target information is generated based on the user
`
`selection of the target.
`
`[0101]
`
`In some embodiments, the expected target information includes an expected position or
`
`an expected size of the target within an image captured by the imaging device.
`
`[0102]
`
`In some embodiments, the target information does not include expected target
`
`information.
`
`[0103]
`
`In some embodiments, the input device includes a touchscreen, joystick, keyboard,
`
`mouse, stylus, or wearable device.
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`6579946 l.docx
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`WSGR Docket No. 45236-734.301
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`Yuneec Exhibit 1003 Page 11
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`

`
`[0104]
`
`In some embodiments, the user selection of the target is achieved by a user selecting an
`
`area of the at least one of the one or more images being displayed on the display, the selected area
`
`corresponding to the target.
`
`[0105]
`
`In some embodiments, the user selection of the target is achieved by a user directly
`
`touching an area of the at least one of the one or more images being displayed on the display, the
`
`touched area corresponding to the target.
`
`[0106]
`
`In some embodiments, the user selects the area using a stylus, mouse, keyboard, or a
`
`wearable device.
`
`[0107]
`
`In some embodiments, selecting the area includes touching, swiping, circling, or clicking
`
`in the area.
`
`[0108]
`
`In some embodiments, the one or more processors, individually or collectively, are
`
`further configured to display, on the display, the selected target with a selection indicator in response
`
`to the user selection of the target, the selection indicator indicating that the target has been selected
`
`by the user.
`
`[0109]
`
`In some embodiments, the one or more processors, individually or collectively, are
`
`further configured to receive tracking information related to the target and, based on the tracking
`
`information, display the selected target with a tracking indicator within one or more subsequent
`
`images captured by the imaging device, the tracking indicator indicating, in substantially real-time,
`
`that the target is being tracked by the UAV according to the target information.
`
`[0110]
`
`According to another aspect of the present invention, a method for controlling an
`
`unmanned aerial vehicle (UAV) is provided. The method comprises: receiving, in substantially real(cid:173)
`
`time, one or more images captured by an imaging device coupled to the UAV; receiving user(cid:173)
`
`specified target information of a target including a predetermined position or a predetermined size of
`
`a target within an image from the one or more images; providing the user-specified target
`
`information to the UA V; and displaying the one or more images and a tracking indicator associated
`
`with the target within the one or more images, the tracking indicator indicating that the target is
`
`being tracked by the UAV in substantially real-time according to the user-specified target
`
`information.
`
`[0111]
`
`According to another aspect of the present invention, an apparatus for controlling an
`
`unmanned aerial vehicle (UAV) is provided. The apparatus comprises: a receiver configured to
`
`receive, in substantially real-time, one or more images captured by an imaging device coupled to the
`
`UAV; an input device configured to receive user-specified target information of a target including a
`
`predetermined position or a predetermined size of a target within an image from the one or more