Autofocusing camera and systems

Abstract

Apparatuses and methods for focusing a camera are disclosed. For example, an apparatus may be coupled to a camera for focusing the camera. The apparatus includes a vision sensor coupled to a processor and configured to capture a view. The processor configured to receive a selection of an area of interest in the view. The apparatus further includes a distance measurement unit coupled to the processor and configured to measure a distance to the area of interest for adjusting the camera's focus.

1 - 54 . (canceled) 
     
     
         55 . A movable object, comprising:
 a first camera;   an auxiliary focusing device including:   a vision sensor comprising a second camera; and   a distance measurement unit; and   a processor configured to:   cause the vision sensor to capture a view,   receive a selection of an area of interest in the view captured by the vision sensor,   cause the distance measurement unit to measure a distance to the area of interest, and   cause adjustment of the first camera's focus based on the measured distance.   
     
     
         56 . The movable object of  claim 55 , wherein
 the movable object is an unmanned aerial vehicle.   
     
     
         57 . The movable object of  claim 55 , wherein
 the auxiliary focusing device is movable with respect to the first camera.   
     
     
         58 . The movable object of  claim 55 , wherein
 the distance measurement unit is movable with respect to the first camera.   
     
     
         59 . The movable object of  claim 55 , wherein
 the vision sensor, the distance measurement unit, and the first camera are all movable with respect to one another.   
     
     
         60 . The movable object of  claim 55 , wherein
 the distance measurement unit measures the distance based on a flight of time.   
     
     
         61 . The movable object of  claim 55 , wherein
 the distance measurement unit comprises a laser.   
     
     
         62 . The movable object of  claim 55 , wherein
 the distance measurement unit comprises an ultrasound wave generator.   
     
     
         63 . The movable object of  claim 55 , wherein
 the processor receives the selection of the area of interest from a user.   
     
     
         64 . The movable object of  claim 55 , wherein
 the processor is configured to process the distance measurement to reduce an impact of noise.   
     
     
         65 . The movable object of  claim 55 , wherein
 the processor uses a Kalman filter to process the distance measurement.   
     
     
         66 . The movable object of  claim 55 , wherein
 the processor is configured to cause adjustment of the distance measurement unit based on the measured distance to orient the distance measurement unit towards the area of interest.   
     
     
         67 . The movable object of  claim 66 , wherein
 the processor is configured to cause the distance measurement unit to repeat the distance measurement after the adjustment of the distance measurement unit.   
     
     
         68 . The movable object of  claim 66 , wherein the vision sensor is configured to track the area of interest. 
     
     
         69 . The movable object of  claim 55 , wherein
 the vision sensor tracks the area of interest such that the area of interest remains at the center of the view.   
     
     
         70 . The movable object of  claim 55 , wherein
 the processor is configured to cause the camera to focus based on the measured distance regardless of whether the area of interest is in the first camera's view.   
     
     
         71 . The movable object of  claim 55 , wherein
 the processor is configured to determine the depth of the area of interest based on the measured distance, and based on a positional relationship between the first camera and the distance measurement unit or a positional relationship between the first camera and the auxiliary focusing device.   
     
     
         72 . The movable object of  claim 55 , wherein
 the processor is configured to cause the first camera to focus on the area of interest.