Patent Document ID: 9442485
Application ID: 14825956
Patent Status: 1

Claim One:
1. An unmanned aerial vehicle (UAV), comprising: an airframe, at least one rotor fixed to the airframe, the at least one rotor configured to rotate at least one rotor speed; an attitude control system coupled to the at least one rotor, the attitude control system configured to adjust the at least one rotor speed; at least one camera configured to capture one or more images, the one or more images including at least one first image associated with a first orientation of the subject and the UAV and at least one second image associated with a second orientation of the subject and the UAV; a visual recognition system coupled to the at least one camera, the visual recognition system configured to generate at least one profile associated with a subject, the profile including at least one first pixel set associated with the at least one first image, the at least one first pixel set including at least one first pixel subset; generate at least one second pixel set associated with the at least one second image, the at least one second pixel set including at least one second pixel subset; store in the memory of the UAV at least one of the one or more images and the at least one profile; and compare the at least one second pixel subset to at least one of a first pixel subset and a second pixel subset; a subject tracking system coupled to the attitude control system, the subject tracking system configured to follow the subject based on at least at least one third orientation of the subject and the UAV; compare the at least one third orientation of the subject and the UAV with the at least one second orientation of the subject and the UAV; and direct the attitude control system to adjust at least one rotor speed based on the comparing of the at least one third orientation of the subject and the UAV with the at least one second orientation of the subject and the UAV.