Patent Description:
This application relates to systems and methods for imaging the surface of a subject, for example a subject's skin. Example embodiments provide systems and methods for imaging using a self-propelled apparatus, for example an unmanned aerial vehicle (UAV).

There are many applications that require imaging a subject. For example, many medical examinations require imaging a patient's body or a portion thereof. Medical applications of body imaging include diagnosis and monitoring of conditions afflicting a patient's skin, eyes, mouth, or nails. Furthermore, many of these afflictions require monitoring over a period of time to diagnose and treat.

One condition benefiting from monitoring over time is skin cancer. Furthermore, early diagnosis of skin cancer may improve patient outcome. Skin screening is one method to achieve early diagnosis of skin cancer. Performed regularly, self-examination can alert an individual to changes in the skin and aid in the early detection of skin conditions and diseases. However, naked eye examination lacks the sensitivity required for early-stage detection of some skin conditions and diseases, for example skin cancer. Furthermore, differences in imaging conditions, for example differences in lighting between different imaging sessions, may limit the utility of such monitoring.

To diagnose and treat conditions and diseases, dermatologists and other health professionals may systemically check the entire surface of the skin, hair, and nails, and especially areas exposed to the sun. Skin lesions (e.g. parts of the skin that have abnormal appearance compared to the skin around them) and hair and nail features may be recorded by hand by plotting a full-body chart or by taking a series of images.

Total body photography (TBP) is the process of imaging skin, hair, and nails to detect, monitor, diagnose, and treat conditions and diseases. TBP may be used to measure other metrics, including, but not limited to body shape for cosmetic and/or fitness and/or health applications.

Manually capturing images is both resource intensive and is susceptible to errors. Images must be properly documented and analyzed to optimize diagnosis and treatment. Incongruities in, for example, lighting, the angle that the image is acquired at, etc. may impact the quality of images and affect detection and diagnosis.

TBP systems are known. Some systems employ numerous cameras positioned to surround a patient and simultaneously capture images. Other systems employ multiple cameras positioned to simultaneously capture images of a section of a patient's body. Such conventional systems are typically bulky, expensive, and require a dedicated space and personnel to operate. Further, depending on the position and angle of the cameras relative to the patient's body, the quality of the acquired images may be affected, thereby complicating detection and diagnosis. Further still, since a patient's body dimensions change and the patient's positioning relative to the cameras is difficult to replicate over time, it is difficult to reproduce the multiple variables that impact the acquisition of consistent images (e.g. the position of the patient's body or body segment relative to the camera, the distance of the patient's body or segment from the camera, the orientation of the camera, lighting, etc.). Thus, it is difficult to reproduce high quality and consistent images of skin, hair, and nail segments that are needed to monitor skin, hair, and nail features over time.

Skin conditions may be treated with photodynamic therapy, wherein a lesion is illuminated with light of a certain intensity for a period of time. Treating skin conditions with photodynamic therapy poses similar difficulties to imaging of skin. In particular, it is difficult to accurately administer photodynamic therapy, and consistently administer photodynamic therapy during multiple treatment sessions.

There is a general desire for an imaging and/or treatment system capable of producing high quality, reproducible images, and/or administering photodynamic therapy.

The foregoing examples of the related art and limitations related thereto are intended to be illustrative and not exclusive. Other limitations of the related art will become apparent to those of skill in the art upon a reading of the specification and a study of the drawings. Moreover, the background art is not restricted to the medical field. For instance, <CIT> discloses a vision-based guidance system for a drone to autonomously track an object of interest during surveillance.

The following embodiments and aspects thereof are described and illustrated in conjunction with systems, tools and methods which are meant to be exemplary and illustrative, not limiting in scope. In various embodiments, one or more of the above-described problems have been reduced or eliminated, while other embodiments are directed to other improvements.

One aspect of the disclosure provides a method of photographing at least a portion of a subject with a platform carrying an imaging system, the method comprising: generating a photography scheme, the photography scheme comprising a set of photography control points, each of the photography control points comprising: a location of the platform relative to the subject; an orientation of the platform relative to the subject; and one or more photography parameters; determining a location and an orientation of the platform carrying the imaging system; navigating the platform to each of the photography control points and operating the imaging system to capture an image of the subject at each of the photography control points according to the associated photography parameters.

One aspect of the disclosure provides an imaging system comprising: an unmanned aerial drone, the drone comprising: a drone body; four rotors mounted to the drone body; a digital camera mounted to the drone body; a light source mounted to the drone body; a laser sensor mounted to the drone body; a drone transceiver mounted to the drone body; a drone computer mounted to the drone body, the drone computer configured to: control the four rotors to navigate the drone; control the digital camera to capture one or more digital images; control the light source to emit light; receive data from the laser sensor; and transmit and receive data via the drone transceiver; three GPS receivers, wherein each of the GPS receivers is configured to receive a signal from the drone transceiver; a controller, the controller comprising: a memory storing at least one previous image of a subject; a controller transceiver configured to communicate with the drone transceiver and the three GPS receivers; wherein the controller is configured to control the drone to: control the rotors to navigate the drone about a subject; control the rotors to orientate the digital camera towards the subject; control the light source to illuminate the subject; control the digital camera to take one or more images of the subject; and store the one or more images of the subject in the memory.

One aspect of the disclosure provides a method of administering photodynamic therapy to a subject with a platform carrying a photodynamic treatment system, the method comprising: receiving a photodynamic therapy prescription, the photodynamic therapy prescription comprising: a therapy region corresponding to an area of the subject; and a therapy light dose; generating a photodynamic therapy scheme at least in part based on the photodynamic therapy prescription; wherein the photodynamic therapy scheme comprises a set of photodynamic control points, each of the photodynamic control points comprising: a location of the platform relative to the subject; an orientation of the platform relative to the subject; an illumination intensity; and an illumination time; and navigating the platform to each of the photodynamic control points and controlling the photodynamic treatment system to illuminate the subject with light of the illumination intensity and for the illumination time of each of the photodynamic control points.

In addition to the exemplary aspects and embodiments described above, further aspects and embodiments will become apparent by reference to the drawings and by study of the following detailed descriptions.

Exemplary embodiments are illustrated in referenced figures of the drawings. It is intended that the embodiments and figures disclosed herein are to be considered illustrative rather than restrictive.

Throughout the following description specific details are set forth in order to provide a more thorough understanding to persons skilled in the art. However, well known elements may not have been shown or described in detail to avoid unnecessarily obscuring the disclosure. Accordingly, the description and drawings are to be regarded in an illustrative, rather than a restrictive, sense.

Unless the context dictates otherwise, the term "optical element" (as used herein) refers to a lens, a filter, an optical film, a diffuser, or a polarizer.

Unless the context dictates otherwise, the term "diffuser" (as used herein) refers to a filter that diffuses or scatters light in some manner. A diffuser may be applied to provide soft light and/or to achieve a more uniform light distribution.

Unless the context dictates otherwise, the term "polarizer" (as used herein) refers to an optical filter that can convert a beam of light of undefined or mixed polarization into a beam of well-defined polarization.

Unless the context dictates otherwise, the term "linear polarizer" (as used herein) refers to a polarizer that selectively passes or creates a linearly-polarized electromagnetic wave (e.g. a linearly-polarized light wave). The direction of the electric field of the electromagnetic wave is aligned parallel to a polarization direction or 'polarization axis' of the polarizer.

Unless the context dictates otherwise, the term "circular polarizer" (as used herein) refers to a polarizer filter that selectively passes and/or creates a circularly-polarized electromagnetic wave. In a circularly-polarized wave a direction of the electric component of the electromagnetic wave changes in a rotary manner along the direction of propagation. Circular polarization can be either clockwise or counterclockwise.

Unless the context dictates otherwise, the term "cross polarization" refers to the polarization of light in an orthogonal direction to the polarization of light being discussed.

Unless the context dictates otherwise, "focal length" (as used herein) refers to the distance between a lens and a focal point of an optical system, wherein the lens converges parallel rays of light into the optical system's focal point. The focal length of an optical system is a measure of how strongly the system converges or diverges light. A system with a shorter focal length has greater optical power than one with a longer focal length since the system with the shorter focal length is able to bring light rays into focus in a shorter distance.

<FIG> depicts a system <NUM> for imaging a subject, for example by total body photography (TBP) of the subject. System <NUM> comprises: imaging system <NUM>, platform <NUM>, guidance system <NUM>, and analysis system <NUM>. Imaging system <NUM> is carried by platform <NUM>. Guidance system <NUM> controls platform <NUM>. Imaging system <NUM> captures images and provides the images to analysis system <NUM>. Analysis system <NUM> processes the images provided by imaging system <NUM>.

Imaging system <NUM> comprises one or more digital cameras. Example embodiments of digital cameras include:.

Where imaging system <NUM> comprises a smartphone or a tablet computer, platform <NUM> may comprise a mount to retain the smartphone or tablet computer. In some embodiments, platform <NUM> may comprise a light deflector, for example a mirror or a prism, to direct light to a digital camera of the smartphone or tablet computer. The light deflector may be configured to direct light perpendicular to the digital camera of the smartphone or tablet computer.

In some embodiments, the smartphone or tablet computer may be mounted to platform <NUM> with a face of the smartphone or tablet computer facing upward from the ground or downward towards the ground. Mounting a smartphone or tablet computer to platform <NUM> with a face of the smartphone or tablet computer facing upward from the ground or downward towards the ground may improve the stability of platform <NUM>. Platform <NUM> may comprise a light deflector to direct light into the camera of the smartphone or tablet computer. The light deflector may direct light traveling horizontal to the ground into the camera of the smartphone or tablet computer.

In some embodiments, platform <NUM> comprises a propulsion system and is partially or entirely self-propelled by the propulsion system. Where platform <NUM> comprises a propulsion system, guidance system may <NUM> control the propulsion system of platform <NUM>. In such embodiments, platform <NUM> is at least partially controlled by guidance system <NUM> controlling the propulsion system of platform <NUM>.

Example embodiments of platform <NUM> which comprise a propulsion system and are at least partially self-propelled include:.

In some embodiments, platform <NUM> is partially or entirely propelled by a user. Where platform <NUM> is at least partially propelled by a user, guidance system <NUM> provides human perceptible instructions to the user for controlling platform <NUM>. Human perceptible instructions provided by guidance system <NUM> may include audio and/or visual instructions, for example audio cues, light cues, synthesized speech, pre-recorded messages, text instructions, vibration feedback, and the like.

Examples of platform <NUM> which are at least partially propelled by a user include:.

Imaging system <NUM> may further comprise a light source, for example one or more light emitting diodes, incandescent lamps, and/or fluorescent lamps. The light source of imaging system <NUM> may further comprise one or more filters configured to selectively transmit light of a certain polarity and/or spectrum. The filters may comprise one or more polarizing filters, and/or one or more optical filters. The light source and any other optical elements of imaging system <NUM> may be used by imaging system <NUM> to capture images, for example to illuminate a subject to photograph.

In some embodiments, platform <NUM> is integrated with imaging system <NUM>, for example a UAV or a UGV with an integrated camera. In some embodiments, imaging system <NUM> is removably mounted to platform <NUM>, for example a a UAV or a UGV with a removably mounted smartphone.

Where a propulsion system of platform <NUM> is at least partially controlled by guidance system <NUM>, guidance system <NUM> may comprise one or more modules which control the movement, position, and/or orientation of platform <NUM>. In some embodiments, guidance system <NUM> is integrated with imaging system <NUM>. For example, imaging system <NUM> may comprise a smartphone and one or more modules of guidance system <NUM> may be implemented by the smartphone.

Where one or more modules of guidance system <NUM> are implemented by a smartphone, the smartphone may be communicatively coupled to the platform by a wired interface, for example a Lightning™ or USB cable. The modules of guidance system <NUM> may be downloaded to the smartphone by downloading a mobile app. For example, a user may access an app store from the smartphone, and then download and run a mobile app. A mobile app is a software application designed to run on a smartphone. A mobile app may be downloaded from an app store, which is an online database of mobile apps. The smartphone may comprise a memory storing the mobile app.

Guidance system <NUM> may control platform <NUM> to:.

By translating, rolling, pitching, and yawing platform <NUM>, guidance system <NUM> may navigate platform <NUM> to any position and/or orientation.

Where platform <NUM> is at least partially controlled by a user, guidance system <NUM> may comprise one or more systems which provide instructions to a user controlling platform <NUM>. Instructions provided by guidance system <NUM> to control platform <NUM> may include:.

Where instructions provided by guidance system <NUM> to a user of platform <NUM> include audio cues, providing the instructions may comprise playing a pre-recorded message, for example a message such as "lower the platform by one meter", or "rotate the platform around the subject by <NUM> degrees".

Where instructions provided by guidance system <NUM> include visual cues, platform <NUM> may comprise one or more visual outputs, for example a liquid crystal display (LCD) or a set of LEDs arranged around a periphery of platform <NUM>. Where platform <NUM> comprises a visual display, guidance system <NUM> may display instructions via the visual display. Example instructions displayed by the visual display may include:.

Where platform <NUM> comprises a smartphone or tablet computer, audio instructions may be provided by a speaker of the smartphone and/or tablet computer, and visual instructions may be provided by a display of the smartphone and/or tablet computer.

Guidance system <NUM> may also be in communication with imaging system <NUM> and control imaging system <NUM> to:.

To control platform <NUM> and/or to generate instructions for a user to control platform <NUM>, guidance system <NUM> may determine and/or store:.

Guidance system <NUM> may comprise one or more modules including:.

Guidance system <NUM> may comprise one or more inputs, for example one or more sensors. Examples of sensors comprising guidance system <NUM> include:.

In some embodiments, one or more digital cameras of imaging system <NUM> may also be used by guidance system <NUM> to generate inputs for guidance system <NUM>.

Images captured by imaging system <NUM> are transmitted to analysis system <NUM>. Analysis system <NUM> comprises one or more modules which may receive and/or analyze images from imaging system <NUM>. Examples of modules of analysis system <NUM> include:.

<FIG> depicts a system <NUM> for administering photodynamic therapy to a subject. System <NUM> comprises: imaging system <NUM>, platform <NUM>, and guidance system <NUM>, similar to system <NUM> described above.

System <NUM> further comprises treatment system <NUM>. Treatment system <NUM> comprises one or more light sources configured to emit light for administering photodynamic therapy. In some embodiments, treatment system <NUM> comprises one or more light emitting diodes (LEDs) for administering photodynamic therapy.

In some embodiments, treatment system may be configured to administer photodynamic therapy according to a photodynamic therapy scheme. Treatment system <NUM> may be configured to generate the photodynamic therapy scheme at least in part based on:.

The photodynamic therapy prescription may comprise a photodynamic therapy region and a photodynamic therapy light dose. The photodynamic therapy region may correspond to a region of a subject, for example a lesion of a subject.

The photodynamic therapy scheme generated by treatment system <NUM> may comprise a set of photodynamic control points, wherein each of the photodynamic control points comprises:.

The photodynamic control points may be generated by treatment system <NUM> by first determining the location and the orientation of platform <NUM> required to illuminate the photodynamic therapy region. Once the location and the orientation of platform <NUM> required to illuminate the photodynamic therapy region is determined, treatment system <NUM> may determine the illumination intensity and illumination time required to deliver the photodynamic therapy prescription to the photodynamic therapy region from the location and the orientation of platform <NUM>.

Where platform <NUM> is at least partially self-propelled, treatment system <NUM> may control platform <NUM> and direct platform <NUM> to each of the photodynamic therapy control points and control the light source of treatment system <NUM> to illuminate the photodynamic therapy region of the subject with light of the illumination intensity and for the illumination time.

An aspect of the disclosure provides an UAV capable of acquiring high resolution two-dimensional (2D) and/or three-dimensional (3D) body surface images, including images of skin, hair, and nails. The UAV provides a low-cost solution for TBP that is suitable for indoor use at skin clinics, medical offices, hospitals, pharmacies, home, etc..

An unmanned aerial vehicle (UAV) (also known as a drone) is an aircraft without an onboard human operator. An UAV is typically one component of an UAV system, which includes the UAV, a controller, and a communication system between the UAV and the controller. An UAV may operate under remote control by a human operator or autonomously by one or more onboard computers.

Images may be acquired by the UAV in 2D or 3D. In some embodiments, the UAV is used to acquire 3D body surface images directly in 3D with a 3D camera, or by merging position-known 2D images acquired by navigating the UAV around an object to be imaged. The images may be a series of 2D or 3D images, which may be combined to form a 3D representation of the imaged body.

In some embodiments, the UAV includes a digital camera for acquiring images. The UAV may include one or more sensors, LED cross-polarized lighting, and/or an onboard computer system (i.e. hardware and software) capable of real-time image acquisition, storage, and/or analysis. In some embodiments, the UAV may transmit images wirelessly to an external computer system to analyze the images acquired by the UAV.

In some embodiments, the position and/or location of the UAV may be determined in real-time. The UAV may be maneuvered automatically to specific locations to capture desired images. In this way, the UAV is capable of taking reproducible images. Such images are useful for TBP. When such images are taken over time, comparisons between such images may be further useful for TBP.

In some embodiments, the UAV includes means for stabilizing the UAV. For example, the UAV may comprise one or more stability sensors such as gyroscopes and/or accelerometers to measure the tilt, rotation, and/or pitch of the UAV. Such measurements of tilt, rotation, and/or pitch may be used to stabilize the UAV. By stabilizing the UAV, high quality images may be acquired. Such images may be useful for TBP.

In some embodiments, the UAV may be used to acquire full-body or partial-body surface images. Such images may be used and analyzed for automated screening of skin conditions, for example automated screening for skin cancer, pigmented lesions, and/or vascular lesions. In addition, the UAV may be used to analyze other skin conditions, such as acne, rashes and inflammatory diseases such as psoriasis or eczema. The UAV may be used to estimate the size and coverage of the disease area as well as to estimate the depth of the condition (for example wrinkles, raised lesions, wounds, etc.), to monitor a condition on different body parts, and/or to monitor treatment progress. The UAV may be used for cosmetic and/or plastic surgery applications and/or may be used by dermatologists, surgeons, general practitioners, nurses, photographers, and consumers/patients.

In some embodiments, the UAV may be used by a user to acquire an overview image of a patient's body or body part. In some embodiments, the UAV may be used to identify and image a body or body part, detect skin lesions in the acquired image, and label and place the lesions on a 2D or 3D body map.

In some embodiments, the UAV may be used to automatically identify areas of interest of the skin such as acne, rashes, psoriasis, eczema and wounds, and place them on a 2D or 3D body map for labelling, archiving and monitoring over time.

In some embodiments, the UAV may be used to analyze skin lesions on a real-time basis. Onboard and/or external computer systems may be used to instruct the UAV to reimage and/or get closer to a lesion to take higher quality images.

In some embodiments, the UAV is equipped with a dermoscope to take dermoscopy images. The dermoscopy images may be any combination of polarized/non-polarized/cross-polarized images.

<FIG> depicts an embodiment of imaging system <NUM> and platform <NUM> comprising unmanned aerial vehicle (UAV) <NUM> and controller <NUM>.

UAV <NUM> comprises body <NUM> and rotors <NUM>. UAV <NUM> is lifted and propelled by rotors <NUM>.

UAV <NUM> further comprises digital camera <NUM> and light source <NUM>. Light source <NUM> is configured to illuminate a subject, and digital camera <NUM> is configured to capture one or more digital images of the illuminated subject. In some embodiments, light source <NUM> emits polarized light.

UAV <NUM> further comprises one or more sensors <NUM>, transceiver <NUM>, and onboard computer <NUM>. Computer <NUM> comprises a memory and a processor. Computer <NUM> is communicatively coupled to digital camera <NUM>, light source <NUM>, sensors <NUM>, and transceiver <NUM>.

Controller <NUM> comprises transceiver <NUM> and computer <NUM>. Computer <NUM> comprises a processor and a memory storing software to be executed by the processor. UAV transceiver <NUM> and transceiver <NUM> are configured to wirelessly communicate with each other, for example by the MAVLink™ communication protocol.

Sensors <NUM> may comprise one or more devices capable of measuring a parameter of the environment proximate UAV <NUM>, for example one or more of: LIDAR sensors, infrared range sensors, digital cameras, ultrasonic range sensors, accelerometers and an indoor-GPS transmitter (described below).

Computer <NUM> is configured to receive sensor data from sensors <NUM>. Computer <NUM> may control rotors <NUM> in part based on sensor data received from sensors <NUM>. For example, computer <NUM> may control rotors <NUM> to navigate UAV <NUM> to avoid an obstacle, for example to avoid a wall, ceiling, floor, object or person.

Computer <NUM> is configured to control transceiver <NUM> to transmit sensor data to controller <NUM> via transceiver <NUM>. Computer <NUM> may be configured to receive sensor data from transceiver <NUM>.

Computer <NUM> is configured to control UAV <NUM>, and control transceiver <NUM> to transmit commands to UAV <NUM> via transceiver <NUM>. Computer <NUM> may receive commands from transceiver <NUM> and control rotors <NUM> to navigate UAV according to the command.

Computer <NUM> may generate commands for controlling UAV <NUM> based in part on one or more of: received sensor data, stored images, and user input. For example, computer <NUM> may generate one or more commands to:.

Computer <NUM> may be configured to control transceiver <NUM> to transmit digital images generated by digital camera <NUM> to controller <NUM> via transceiver <NUM>. Computer <NUM> may be configured to store digital images generated by digital camera <NUM> in a memory, for example a flash memory card.

<FIG> depicts an example method <NUM> performed by UAV <NUM> and controller <NUM> for photographing a subject. Prior to performing method <NUM>, the subject may be positioned in a pre-determined location. For example, the subject may be a person, and the person may be instructed to stand in a specified location with a specified posture. For example, the person may stand upright with their feet placed on a specific location and with their hands grasping handles fixed proximate the specific location.

The location of UAV <NUM> may be determined in step <NUM> for example by UAV photographing at least one marker in a network of markers, and computer <NUM> determining the location of UAV <NUM> from the photographed marker, as described below. The position of UAV <NUM> may be stored in the memory of computer <NUM>. The position of UAV <NUM> may be represented by a location vector representing a direction and distance from a certain location. For example, one marker in the network of markers may be designated as a prime marker, and all other location vectors may represent a direction and distance from the prime marker.

The orientation of UAV <NUM> may be determined in step <NUM> by determining an orientation of the photographed marker. To determine the orientation of a photographed marker, computer <NUM> may determine a rotation of the photographed marker from an orientation of a known marker. For example, computer <NUM> may determine that a photographed marker is rotated a certain degree from a known marker. If digital camera <NUM> is mounted at a known position on UAV <NUM>, then the orientation of UAV <NUM> can be determined from the certain degree of rotation of the photographed marker.

For example, a known marker may have a known orientation relative to the prime marker. Computer <NUM> may determine a rotation of a photographed marker relative to the known marker, and thereby determine a rotation of the photographed marker relative to the prime marker. Computer <NUM> may then determine a rotation of UAV <NUM> relative to the prime marker from the rotation of the photographed marker relative to the prime marker.

The location and orientation of the subject may be determined in step <NUM> by positioning and orientating the subject in a pre-determined location, and storing the pre-determined location of the subject in the memory of computer <NUM>. For example, where the subject is a person, the person may be positioned by standing on a certain marker, designated a subject marker, in the network of markers. Computer <NUM> may store the position of the subject marker as a location vector representing a direction and a distance from the prime marker.

The person may be positioned at the subject marker in a certain orientation by having the person assume a certain posture at the subject marker. For example, the person may be instructed to: stand, sit or lie down, and/or grasp a handle fixed proximate the subject marker, and/or arrange their limbs in a certain manner. For example, the person may be instructed to stand upon the subject marker with their body erect and with their hands at their sides.

The person to be photographed may be instructed to assume a posture at the subject marker corresponding to a position and an orientation of a representative person. Computer <NUM> may store a position and an orientation of the representative person as a three dimensional (3D) model. The 3D model of the representative person may represent the position of major features of the representative person. For example, the 3D model may include location vectors for each of the representative person's major body parts. Such major body parts may include the representative person's head, chest, arms and legs. The body part location vectors may be represented as location vectors relative to the prime marker.

The one or more images of the subject may be received in step <NUM> by computer <NUM> retrieving the images from the memory of computer <NUM>. Such images may have been captured previously by UAV <NUM>. The images may include associated metadata, for example one or more photography parameters (described below) and a location and/or orientation of UAV <NUM> used to capture an image. The location and/or orientation of UAV <NUM> may be represented as a location vector indicating a direction and distance from the prime marker.

Step <NUM> may comprise generating a photography scheme based at least in part on:.

In some embodiments, the photography scheme comprises a set of photography control points, each of the photography control points comprise:.

The one or more photography parameters may include one or more of: a shutter speed; an aperture size; a focal length; an ISO sensitivity; and an illumination level.

To generate the photography scheme, computer <NUM> may determine a number of images required of the subject. For example, computer <NUM> may determine that thirty images of the subject are required, where ten images are taken at a first elevation, ten images are taken at a second elevation greater than the first elevation, and ten images are taken at a third elevation greater than the second elevation. Each of the ten images at each elevation may be separated by an equal angle about the subject. For example: a first image may be taken at a starting position, a second image may be taken at a second position <NUM>° around the subject from the starting position, a third image may be taken at a third position <NUM>° around the subject from the starting position, and so on with each image being taken at a position (n × <NUM>°) around the subject from the starting position, where n is an index identifying the image with <NUM> ≤ n ≤ <NUM> in this example.

Once computer <NUM> has determined the number of images of the subject required, computer <NUM> may determine the photography control points required to capture each of the required images. For example, computer <NUM> may determine a position and an orientation of drone <NUM> required to capture each of the thirty images referenced above. To determine the position and orientation of drone <NUM> required to capture each image, computer <NUM> may determine a distance from the subject for each image. The distance from the subject for each image may be represented as an image vector with a direction and distance from the subject marker. The set of image vectors may then be used to generate the set of photography control points specifying the location and orientation of UAV <NUM> required to capture each of the required images.

Computer <NUM> may generate one or more photography parameters for each of the photography control points. For example, computer <NUM> may set a focal length and an aperture size of a photography control point to capture a certain depth of field a certain distance from drone <NUM>. The distance of the depth of field from drone <NUM> may be approximately equal to a distance from the subject to drone <NUM> when drone <NUM> is at the location and orientation of the respective photography control point. The depth of field may be approximately equal to the depth of the subject. In some embodiments the depth of field may be <NUM> meter.

Computer <NUM> may also set a shutter speed and ISO sensitivity for each of the photography control points. Computer <NUM> may set the shutter speed and ISO sensitivity of a photography control point as a function of the focal length and aperture size of the photography control point. For example, computer <NUM> may set the shutter speed and ISO sensitivity of a photography control point to produce a certain exposure level. An exposure level approximates the amount of light reaching digital camera <NUM>, which affects the brightness of an image captured by digital camera <NUM>.

Computer <NUM> may modify the photography control points based on one or more previous images of the subject. For example, computer <NUM> may determine that a previous image of the subject was taken by drone <NUM> at a certain location and with a certain orientation. Determining the location and orientation of drone <NUM> used to capture the previous image may comprise reading metadata associated with the previous image. Computer <NUM> may then select one of the photography control points with the nearest position and orientation to the position and orientation of the previous image, and modify the location and orientation of the selected photography control point to more closely match the position and orientation of the previous image.

Computer <NUM> may modify the photography control points based on one or more previous images of the subject by adding a photography control point. The added photography control point may have the same location, orientation, and photography parameters as the location, orientation, and photography parameters of a previous image of the subject.

In some embodiments, a user may select a previous image of the subject to be reproduced. The user may select the previous image from a database of previous images using an interface of computer <NUM>. Computer <NUM> may then add a photography control point with the same location, orientation, and photography parameters as the location, orientation, and photography parameters of the selected image of the subject.

Controlling UAV <NUM> according to the photography scheme in step <NUM> may comprise controller <NUM> determining commands to navigate UAV <NUM> between a current position and orientation of UAV <NUM> and a position and an orientation of one of the photography control points, and controlling UAV <NUM> to navigate UAV <NUM> to one of the photography control points. The commands determined by controller <NUM> may include commands to operate the rotors of UAV <NUM> to navigate UAV <NUM>. For example, controller <NUM> may increase power to one or more of the rotors of UAV <NUM> to move UAV <NUM> in a certain direction.

Once controller <NUM> determines that UAV <NUM> is at one of the photography control points, controller <NUM> may control digital camera <NUM> to capture a photograph according to one or more photography parameters associated with the one of the photography control points.

Computer <NUM> may modify one or more photography control points based on sensor data acquired while controlling UAV <NUM> according to the photography scheme in step <NUM>. For example, sensors <NUM> may comprise a LIDAR sensor configured to measure a distance from UAV <NUM> to the subject. Once UAV <NUM> is at a photography control point, the LIDAR sensor may determine a distance between UAV <NUM> and the subject. Computer <NUM> may then modify one or more photography parameters of the photography control points based on the distance between UAV <NUM> and the subject. For example, computer <NUM> may determine an aperture size and/or focal length required to capture an image of the subject at the distance between UAV <NUM> and the subject. Computer <NUM> may then modify the aperture size and/or focal length of the photography control point according to the determined aperture size and/or focal length.

UAV <NUM> according to an example embodiment of the present disclosure is shown in <FIG>. An alternative embodiment, UAV <NUM>, is shown in <FIG>. Many features and components of UAV <NUM> are similar to features and components of UAV <NUM>, with the same reference numerals being used to indicate features and components that are similar between the embodiments. UAV <NUM>, <NUM> is used to capture images and may be employed in a variety of indoor or outdoor applications. In some embodiments, UAV <NUM>, <NUM> is used to capture images of a subject. For example, UAV <NUM>, <NUM> may be used to capture images of a patient's body or part thereof. The captured images may be used to detect, monitor, diagnose, and monitor treatment of skin, hair, and/or nail features, conditions, and/or diseases. UAV <NUM>, <NUM> may be used indoors, for example in healthcare, professional offices, hospitals, private homes, etc..

UAV <NUM>, <NUM> is a multirotor drone that is lifted and propelled by rotors (i.e. horizontally-oriented propellers). In the embodiments illustrated in <FIG>, UAV <NUM>, <NUM> comprises a quadcopter having a body <NUM>, four arms <NUM> extending outwardly from the body, and a rotor <NUM> coupled to each arm. UAV <NUM>, <NUM> may comprise any number of rotors capable of lifting and propelling UAV <NUM>, <NUM>. In some embodiments, UAV <NUM>, <NUM> may comprise one or more rotor guards. In the embodiment illustrated in <FIG>, UAV <NUM> comprises rotor guard <NUM> sized and positioned above rotors <NUM> to protect the rotors and/or to prevent rotors <NUM> from causing damage should the UAV collide with a user, bystander, and/or other object.

In some embodiments, UAV <NUM>, <NUM> may comprise three, four, or more coaxial rotors capable of lifting and propelling UAV <NUM>, <NUM>.

To capture images, UAV <NUM>, <NUM> comprises imaging system <NUM>. Imaging system <NUM> includes at least one camera <NUM> and at least one light source <NUM>. In some embodiments, camera <NUM> houses at least one light source <NUM>. In the embodiments illustrated in <FIG>, camera <NUM> is mounted to a front surface 12a of body <NUM> and light source <NUM> is mounted to a bottom surface 12c of body <NUM>. Camera <NUM> and/or light source <NUM> may be mounted on alternative positions of body <NUM>. In some embodiments, camera <NUM> and/or light source <NUM> is mounted on body <NUM> using a gimbal (not shown). The gimbal may permit camera <NUM> and/or light source <NUM> to pivot about one, two, or three axes. In some embodiments, the gimbal may permit camera <NUM> to pivot about one, two, or three axes to reduce the effect of propeller vibration on image quality and/or to orient camera <NUM> for capturing an image.

Camera <NUM> is a digital camera that captures high-quality images. High-quality images may be images with a resolution of at least <NUM>-megapixels. In some embodiments, images are captured and stored in the digital memory (e.g. SD card) of camera <NUM> and/or are captured and wirelessly transmitted to external memory of cloud computing or other external computing devices via WiFi, satellite, and/or mobile connection. One or more photography parameters of camera <NUM> such as shutter speed, aperture length, focal length and ISO sensitivity, may be selected such that a desired magnification of an object with minimal optical distortion is acquired. For example, in some embodiments, the focal length of camera <NUM> is between about <NUM> and about <NUM> and/or the optical magnification of camera <NUM> is between about <NUM>. In some embodiments, camera <NUM> comprises a <NUM>-megapixel CMOS sensor and <NUM> f/<NUM> lens with a <NUM>-equivalent focal length.

Imaging system <NUM> may comprise one or more optical elements, such as lenses, films, filters, diffusers, and polarizers (e.g. linear polarizers, circular polarizers, etc.) for improving image quality and/or for acquiring magnified images. Imaging system <NUM> may comprise a plurality of lenses. Each lens (not shown) may for example comprise a double-convex lens, a plano-convex lens, a Fresnel lens, a doublet lens, an achromatic lens, or a meniscus lens. Each lens may be coated with an anti-reflection coating to improve image quality.

In some embodiments, imaging system <NUM> comprises one or more filters (not shown). The one or more filters may be used to filter and/or polarize the light emitted by imaging system <NUM> and/or the light that is reflected by an object or patient to be imaged. In some embodiments, the one or more filters may be used to achieve cross polarization for improving image quality.

In some embodiments, imaging system <NUM> comprises multiple cameras having different optical specifications. For example, <FIG> depicts an embodiment of imaging system <NUM> comprising a first camera 40a to take overview images of a first image quality, a second camera 40b that has an optical zoom to take images of a second image quality, and a third camera 40c to take dermoscopic images. The quality of an image may be the resolution of the image. The photography parameters may include which camera is used to capture a certain image.

Light source <NUM> may comprise one or more optical elements, such as films, filters, diffusers, and polarizers (e.g. linear polarizers, circular polarizers, etc.) for improving image quality and/or for acquiring magnified images. In some embodiments, light source <NUM> includes one or more filters (not shown). The one or more filters may be used to filter and/or polarize the light emitted by light source <NUM>. In some embodiments, the one or more filters may be used to achieve cross polarization.

In some embodiments, light emitted by imaging system <NUM> and/or light source <NUM> illuminates skin to be imaged. Light is reflected by the skin as specular reflection and/or by diffuse reflection. Light rays that are reflected from the surface of an object via specular reflection may create glare in the acquired image. Specular reflected light often causes the imaged skin to appear shiny. Specular reflected light interferes with the acquisition of an image showing detailed features of the skin. Specular reflected light tends to have substantially the same polarization as the incident light emitted by UAV <NUM>, <NUM>. In contrast, diffused light is not polarized. Since skin is partially translucent, some light hitting the surface of the skin is reflected as diffuse light by the skin's deeper layers. Diffuse light may contain useful information about the skin and its features.

In some embodiments, diffused reflected light passes through one or more filters (not shown). The one or more filters may be used to substantially block specular reflected light rays and/or remove glare and/or acquire a digital image of a feature below the surface of skin. For example, if a first filter is a linear polarizer, then to block specular reflected light rays, a second filter may be set with its polarization axis rotated <NUM>° relative to that of the first filter. If the first filter is a circular polarizer that polarizes light in the clockwise direction, then to block specular reflected light rays, the second filter can be a circular polarizer that polarizes light in the counter clockwise direction. If the first filter is a circular polarizer that polarizes light in the counter clockwise direction, then to block specular reflected light rays, the second filter can be a polarizer that polarizes light in the clockwise direction.

In some embodiments, imaging system <NUM> and/or light source <NUM> may include a filter (not shown) for providing structured precision lighting to an object to be imaged. Structured lighting may assist in determining a depth of an imaging subject. Structured precision lighting may include emitting light in a known pattern, for example a regular grid of light. When such emitted light is reflected by an object and captured in an image, the imaged grid may be compared to the emitted grid to determine a depth of the imaging subject.

In some embodiments, UAV <NUM>, <NUM> may be used to administer photodynamic therapy. For example, light source <NUM> may emit ultraviolet (UVA and/or UVB) light. Such embodiments may be used to reduce the symptoms of psoriasis (e.g. skin pigmentation caused by sun damage).

UVB light may penetrate the skin of a subject and slow the growth of affected skin cells. Such phototherapy with UVB light may involve exposing a subject's skin to a UVB light source for a set length of time for a set period of time.

In some embodiments, a patient may be treated by photodynamic therapy according to a photodynamic treatment scheme. System <NUM> may be configured to generate a photodynamic treatment scheme according to imaging of the subject.

To direct UAV <NUM>, <NUM> about the subject to be imaged, UAV <NUM>, <NUM> further comprises a guidance system. The guidance system may comprise an indoor global positioning (indoor-GPS) system. The indoor-GPS system may provide accurate location data (e.g. within about <NUM>) for UAV <NUM>, <NUM>.

The indoor-GPS system comprises a transmitter mounted to UAV <NUM>, <NUM> and a network of stationary receivers (i.e. stations) positioned on the ground and/or walls about an object to be imaged by UAV <NUM>, <NUM>. The transmitter mounted to UAV <NUM>, <NUM> and network of stationary receivers are in communication via a radio interface. The indoor-GPS system is used to determine the location of UAV <NUM>, <NUM> while moving or stationary by using multiple ranges (i.e. distances) between UAV <NUM>, <NUM> and the receivers which are positioned at known locations.

<FIG> illustrate an example embodiment of a localization module of guidance system <NUM> comprising an indoor-GPS, wherein the indoor-GPS comprises markers of known locations and camera <NUM>. Camera <NUM> is mounted to bottom surface 12c of body <NUM> and oriented toward the ground. A network of markers is placed on the ground in view of camera <NUM>. Camera <NUM> is positioned and oriented to acquire images of the network of markers positioned on the ground about an object. Camera <NUM> is a digital camera that is used to capture real-time images and/or video of the markers. Real-time images and/or video may be captured, stored, processed, and analyzed in the digital memory (e.g. SD card) of UAV <NUM>, <NUM> and/or are wirelessly transmitted to an external computing system via WiFi, satellite, and/or mobile connection. The computing system then stores, processes, and analyzes the images and/or video to determine a position of UAV <NUM>, <NUM>.

<FIG> illustrate a network of markers <NUM> of a localization module according to an example embodiment. Network of markers <NUM> comprises multiple markers <NUM> arranged in a grid pattern. In the example embodiment shown in <FIG>, network <NUM> comprises a <NUM> x <NUM> grid of markers <NUM> spaced an equidistance apart from one another. However, network <NUM> may comprise any arrangement and configuration of markers <NUM> provided that the location of each marker is known.

Each marker <NUM> in the network of markers <NUM> has a distinct pattern. In some embodiments, each marker <NUM> may comprise a distinct black and white pattern.

Camera <NUM> may provide real-time images and/or a video stream of network <NUM> to an external computer system to estimate the position of UAV <NUM>, <NUM>. Provided camera <NUM> is able to image at least one marker <NUM>, the position of UAV <NUM>, <NUM> may be estimated. In some embodiments, UAV <NUM>, <NUM> can detect and recognize at least four markers <NUM>.

In some embodiments, UAV <NUM>, <NUM> is configured to adjust a height (altitude) at which UAV <NUM>, <NUM> is flying to maintain a certain number of markers <NUM> in view of camera <NUM>. In some embodiments, UAV <NUM>, <NUM> must be at least about <NUM> above network <NUM> to detect at least four markers <NUM>.

In flight, UAV <NUM>, <NUM> uses camera <NUM> to detect and identify markers <NUM> of network <NUM>. In some embodiments, to detect and identify markers <NUM>, camera <NUM> automatically extracts contour and/or filters acquired images. In other embodiments, contour extraction and filtering is performed by an external computer and image data is transmitted from camera <NUM> via WiFi, satellite, and/or mobile connection.

In some embodiments, each marker <NUM> comprises a unique ArUco code or QRCode as shown in <FIG>. An ArUco code or QRCode consists of black squares arranged in a square grid on a white background, a photograph of which can be captured by an imaging device (e.g. camera <NUM>). The arrangement of black squares in the ArUco code or QRCode may then be extracted from the imaged marker to match the imaged marker with a marker in a database of known markers and marker locations. The matched marker may then be used to determine the position of UAV <NUM>, <NUM> relative to the ArUco codes.

In some embodiments, a localization module may capture images of network <NUM>, and detect contours from the images of network <NUM>. Contours in the images indicate the presence of squares, and therefore markers <NUM>, in the images. Images lacking contours may be rejected from further processing. The black and white squares in each image may then be identified by dividing the image into cells using horizontal and vertical grid lines. Depending on the amount of black or white pixels present in each grid region, each grid region is then assigned a value of <NUM> (white) or <NUM> (black) (or vice versa). The resulting pattern of black and white regions in each image is then compared to a database of black and white regions for known markers <NUM> in the network <NUM> of markers, and the image may be matched to a known marker. The position of UAV <NUM>, <NUM> may then be determined from the position of the known marker. The position of UAV <NUM>, <NUM> may be represented as a translation vector from the known marker, where the translation vector represents a direction and distance of UAV <NUM>, <NUM> from the known marker.

In some embodiments, four markers <NUM> may be imaged, and the position of camera <NUM> may be taken as an average of the positions computed according to each detected marker <NUM>.

In some embodiments, an adaptive threshold may be used to permit marker detection in poor light conditions. For example, if less than a threshold number of pixels in an image are designated as white pixels, then a threshold illumination level for identifying a pixel as white may be lowered. Similarly, if more than a threshold number of pixels in an image are designated as black pixels, then a threshold illumination level for identifying a pixel as black may be increased.

<FIG> illustrate an indoor-GPS <NUM> according to an example embodiment. Indoor-GPS <NUM> comprises a transmitter <NUM> mounted to UAV <NUM>, <NUM>, at least one receiver <NUM>, and a modem <NUM>. In the embodiments illustrated in <FIG>, transmitter <NUM> is mounted to a top surface 12d of body <NUM> to decrease propeller noise and/or increase the accuracy of navigation. Transmitter <NUM> may be mounted to alternative positions of body <NUM> provided UAV <NUM>, <NUM> (and the parts thereof) do not obscure or weaken the strength of the signal emitted by transmitter <NUM> to a level which cannot be received by receivers <NUM>.

In some embodiments, receivers <NUM> have an unobstructed line of sight to transmitter <NUM>.

Transmitter <NUM> emits a signal periodically to provide geolocation and time information to receivers <NUM>. In some embodiments, transmitter <NUM> emits a signal every <NUM> seconds to <NUM> seconds. In some embodiments, transmitter <NUM> emits a signal every <NUM> seconds.

A time between when transmitter <NUM> transmits a signal and when each of receivers <NUM> receive the signal is proportional to the distance from transmitter <NUM> to each of receivers <NUM>. Such time delay between transmission of the signal and reception of the signal by each of receivers <NUM> may be used to determine the position of transmitter <NUM>, and thereby the position of UAV <NUM>, <NUM>.

In some embodiments, receivers <NUM> determine a position of transmitter <NUM> by computing one or more navigation equations (e.g. a trilateration algorithm) to determine the position of transmitter <NUM>. In some embodiments, indoor-GPS <NUM> comprises four receivers <NUM> configured to measure four time delays for a signal transmitted by transmitter <NUM>. In some embodiments, the four time delays are used to compute a system of four equations, wherein the four equations represent three position coordinates and a clock deviation. The clock deviation may be used to correct for clock deviations between receivers <NUM>.

In some embodiments, indoor-GPS <NUM> may be configured to autonomously determine a position of each of receivers <NUM> and determine a map of receivers <NUM>. Indoor-GPS <NUM> may determine a location of receivers <NUM> by each of receivers <NUM> emitting a signal which is then received by each other of receivers <NUM>. Indoor-GPS <NUM> may then determine a position of each of receivers <NUM> similar to determining the position of transmitter <NUM> described above. A map of receivers <NUM> may then be determined from the position of each of receivers <NUM>. The map of receivers <NUM> may be stored in the memory of a modem <NUM>.

Although the embodiment shown in <FIG> comprises four receivers <NUM>, more or fewer receivers may be used. One or more receivers <NUM> may be mounted to one or more walls and/or the ceiling inside a confined space. For example, for the embodiment shown in <FIG>, a receiver <NUM> is mounted to each of the four walls of a rectangular room. The configuration of the walls may take on other geometric shapes (e.g. triangular, square, etc.).

In some embodiments, guidance system <NUM> uses a library such as the Open Computer Vision (OpenCV™) for human body skeleton detection and tracking. The input to guidance system <NUM> may be a video stream, for example a video stream from imaging system <NUM>. The input video stream is processed frame by frame. A plurality of major body joints of a subject being imaged are identified and tracked by guidance system <NUM>. A skeletal model is then generated from the identified major body joints. The skeletal model may then be used by guidance system <NUM> to control platform <NUM>, for example to align platform <NUM> and imaging system <NUM> with an area of interest of a subject. The area of interest may then be imaged using imaging system <NUM>. By generating the skeletal model, guidance system <NUM> may compensate for unintentional subject movement during an imaging session, and/or between imaging sessions.

In some embodiments, UAV <NUM>, <NUM>, <NUM> comprises one or more laser sensors to prevent collision of UAV <NUM>, <NUM>, <NUM> with other objects. The one or more laser sensors detect objects proximate the UAV <NUM>, <NUM>, <NUM>. If an object is detected within an threshold distance of UAV <NUM>, <NUM>, <NUM>, UAV <NUM>, <NUM>, <NUM> may autonomously navigate to avoid a collision with the detected object. In some embodiments, UAV <NUM>, <NUM>, <NUM> may stop or hold position when an object is detected within a threshold distance of UAV <NUM>, <NUM>, <NUM>.

In some embodiments, UAV <NUM>, <NUM>, <NUM> comprises one or more laser sensors for determining the height of the UAV relative to the ground.

Analysis system <NUM> may comprise computer software to acquire, store, process, manage, and/or manipulate digital images. In some embodiments, the software may be stored on UAV <NUM>, <NUM>, <NUM>, a mobile device carried by UAV <NUM>, <NUM>,<NUM>, and/or a computer in communication with UAV <NUM>, <NUM>, <NUM>, for example computer <NUM>. The software may be used to improve image quality. For example, the software may be used to control illumination and/or colour, bring an object to be imaged into focus, and/or correct image defects (for example, by making corrections for artifacts such as oil or gel bubbles, hair, and/or shadows). The software may use a graphics processing unit and/or central processing unit to process images in real-time.

Where UAV <NUM>, <NUM>, <NUM> is used to digitally image skin, the software may be used to label, archive, monitor, and/or analyze skin features including, but not limited to, lesions, psoriasis, eczema, wounds, and wrinkles. For example, the software may be used to monitor changes in the height, diameter, and/or pigmentation of such skin features by comparing two or more digital images acquired at different times. In some embodiments, the appearance and/or disappearance of skin features may be monitored over subsequent images.

In some embodiments, the software is configured to process image data to calculate an ABCD (i.e. "Asymmetry, Border, Colors, and Dermoscopic structures") score and/or other conventional dermoscopic criteria. Such processing may be used to analyze skin lesions such as pigmented and non-pigmented lesions. For example, the automated analysis of the data captured may be used to determine if a lesion is prone to be benign or malignant growth and if further treatment and examination is recommended. The software may also recommend a personalized skin care and/or treatment plan. The software can also generate a report to be sent to a specialist for further examination and monitoring.

The software may provide a database of images for comparison and diagnostic purposes. Diagnosis may be performed automatically by the software and/or performed by a user or the user's physician.

In some embodiments, UAV <NUM>, <NUM>, <NUM> may be configured to capture multiple images of an object from different viewpoints to construct a three-dimensional (3D) reconstruction of the object. <FIG> depicts an example embodiment of 3D reconstruction method <NUM>.

The input of 3D reconstruction algorithm <NUM> is a set of images <NUM> captured from different angles with varying degree of overlap. In first step <NUM> of the 3D reconstruction algorithm, a set of sparse key points is generated for each image in the set of overlapping images, and a set of feature descriptors (compact numerical representations) is generated from the set of sparse key points.

In some embodiments, the sparse key points may comprise corner points determined using one or more methods described in <CIT> titled Method and apparatus for identifying scale invariant features in an image and use of same for locating an object in an image, or in <NPL>.

In second step <NUM> of the 3D reconstruction algorithm, photometric matches between each image are determined based on a number of feature descriptors in common between two images. An Euclidean distance from each feature descriptor to each other feature descriptor is determined, and the Euclidean distances are compared to determine an initial set of photometric matches comprising the best matching images.

In step <NUM>, two images are selected from the initial set of best matching images as an initial baseline from which to construct an initial sparse 3D point-cloud. The two initial images may be selected based on a number of corresponding feature descriptors.

In step <NUM>, the initial sparse 3D point-cloud is then iteratively extended by adding images from the set of images by using pose estimation and triangulation, for example using an incremental structure from motion (SfM) algorithm. Key point matches may be removed which have similar descriptors but are incorrect in their geometric location with respect to other key point matches.

Once the sparse 3D point-cloud is generated, the position of the camera in space may be estimated in step <NUM>, for example by using a method described in <NPL>).

From the sparse 3D point-cloud and position of the camera, a rough dense 3D mesh may be generated in step <NUM>. A smooth refined 3D mesh may then be generated from the rough dense 3D mesh in step <NUM>. Finally, the smooth refined 3D mesh is textured in step <NUM> using the initial set of imaged to generate a textured 3D model.

In some embodiments, the dense point-cloud may be generated according to a method described in <NPL>).

In some embodiments, the smooth refined 3D mesh may be generated according to a method described in <NPL>)).

In some embodiments, the UAV <NUM>, <NUM>, <NUM> may acquire an image of a skin lesion of a subject and map the lesion image to a previously identified skin lesion on a body map of the subject. UAV <NUM>, <NUM>, <NUM> may use automated or supervised pattern-matching to map the skin lesion in the image to a previously identified skin lesion. The image may be a lower quality overview image acquired using a digital camera, or higher quality dermoscopy image acquired using a dermoscope.

<FIG> is a schematic top view of an embodiment of system <NUM> comprising an unmanned ground vehicle (UGV) <NUM>, and <FIG> is a schematic front view of UGV <NUM>. UGV <NUM> comprises body <NUM>. UGV <NUM> is propelled by two or more wheels <NUM>. Wheels <NUM> are powered by one or more motors <NUM> mounted to body <NUM>.

To navigate UGV <NUM> about a subject, UGV <NUM> further comprises a guidance system. The guidance system comprises an indoor global positioning system (indoor-GPS). The indoor-GPS may provide accurate location data for UGV <NUM>, similar to the indoor-GPS system of UAV <NUM>, <NUM> as described above.

UGV <NUM> further comprises digital camera <NUM>, light source <NUM>, sensors <NUM>, and controller <NUM>. Controller <NUM> is communicatively coupled to digital camera <NUM>, light source <NUM>, sensors <NUM>, and motors <NUM>.

<FIG> illustrates an embodiment of UGV <NUM> wherein sensor <NUM> comprises a camera <NUM> of the localization module. Camera <NUM> is positioned and oriented to acquire images of a network of markers positioned on the ground about an object.

Light source <NUM> is configured to illuminate a region proximate to UGV <NUM>, and digital camera <NUM> is configured to capture images of subjects illuminated by light source <NUM>.

In some embodiments, instead of digital camera <NUM>, UGV <NUM> may comprise a mount configured to receive a computing device comprising an imaging system, for example a tablet computer comprising a camera such as an Apple iPad™.

<FIG> is a schematic view of an embodiment of system <NUM> comprising circular stand <NUM>. Circular stand <NUM> comprises body <NUM> mounted on pedestal <NUM>. Pedestal <NUM> is mounted to track <NUM>. Track <NUM> follows a substantially circular path about center <NUM>. Pedestal <NUM> comprises motor <NUM> for propelling pedestal <NUM> along track <NUM>.

Digital camera <NUM>, light source <NUM>, and sensors <NUM> are mounted on body <NUM>. Light source <NUM> is configured to illuminate a subject located at center <NUM>, and digital camera <NUM> is configured to photograph a subject at center <NUM> illuminated by light source <NUM>.

Circular stand <NUM> is communicatively coupled to control system <NUM>. Control system <NUM> may be communicatively coupled by a wired and/or wireless connection to digital camera <NUM>, light source <NUM>, sensors <NUM>, and motor <NUM>. Control system <NUM> receives sensor data from sensors <NUM> and digital images from camera <NUM>. Control system <NUM> may receive user input, and/or access stored digital images. Stored digital images may include digital images previously taken of a subject.

Control system <NUM> controls circular stand <NUM> based on one or more of: sensor data received form sensors <NUM>, digital images received from digital camera <NUM>, user input, and stored digital images.

<FIG> depicts a schematic view of an embodiment of imaging system comprising flash light case <NUM>. A flash light case is hand-held device comprising one or more light sources and a mount for an imaging device. The light sources of the flash light case are configured to illuminate a region proximate the flash light case, and the mount of the flash light case is configured to orientate an imaging device towards the region illuminated by the light sources when an imaging device is mounted on the mount.

Flash light case <NUM> comprises body <NUM>, light source <NUM> and mount <NUM>. Light source <NUM> and mount <NUM> are attached to body <NUM>. Mount <NUM> is configured to receive a computing device comprising an imaging system, for example a tablet computer comprising a camera such as an Apple iPad™.

Flash light case <NUM> further comprises handles <NUM> attached to body <NUM>. Handles <NUM> support body <NUM>. Handles <NUM> are configured to be grasped by a user of flash light case <NUM>.

<FIG> depicts computing device <NUM> received by mount <NUM>. Computing device <NUM> comprises digital camera <NUM>. As depicted in <FIG>, when computing device <NUM> is received by mount <NUM>, digital camera <NUM> is oriented towards a subject illuminated by light source <NUM>. By grasping handles <NUM>, a user may move flash light case <NUM> about a subject, and orientate light source <NUM> and a digital camera <NUM> relative to the subject.

Computing device <NUM> may be configured to provide commands to a user of flash light case <NUM> for moving flash light case <NUM> and controlling digital camera <NUM>. For example, computing device <NUM> may generate a command to move flash light case <NUM> to orientate digital camera <NUM> relative to a feature of a subject, and photograph the feature with digital camera <NUM>.

Unless the context clearly requires otherwise, throughout the description and the claims:.

Words that indicate directions such as "vertical", "transverse", "horizontal", "upward", "downward", "forward", "backward", "inward", "outward", "vertical", "transverse", "left", "right", "front", "back", "top", "bottom", "below", "above", "under", and the like, used in this description and any accompanying claims (where present), depend on the specific orientation of the apparatus described and illustrated. The subject matter described herein may assume various alternative orientations. Accordingly, these directional terms are not strictly defined and should not be interpreted narrowly.

Claim 1:
A method of photographing at least a portion of a subject with a platform carrying an imaging system, the subject being a person, wherein the method comprises:
generating a photography scheme, the photography scheme comprising a set of photography control points, each of the photography control points comprising:
a location of the platform relative to a representative subject, the representative subject being a representative person;
an orientation of the platform relative to the representative subject; and
one or more photography parameters; characterised by instructing the subject to assume a position and an orientation of the representative subject;
determining a location and an orientation of the subject, wherein determining the location and the orientation of the subject comprises retrieving a location and an orientation of the representative subject;
determining a location and an orientation of the platform carrying the imaging system;
navigating the platform to each of the photography control points and operating the imaging system to capture an image of the subject at each of the photography control points according to the associated photography parameters;
wherein capturing an image of the subject at each of the photography control points comprises determining a position and an orientation of the platform at each of the photography control points at least in part based on the location and orientation of the subject.