US Patent 11949992 UAV panoramic imaging

A method includes in response to receiving an instruction for starting a panoramic mode, controlling an unmanned aerial vehicle (UAV) to hover at or near a predetermined location; while the UAV is hovering at or near the predetermined location, causing an image capturing device to capture a plurality of images by controlling a carrier that couples the image capturing device to the UAV to rotate the image capturing device about a first axis of the carrier; and stabilizing the image capturing device against motions with respect to a second axis or a third axis of the carrier while the image capturing device is rotating about the first axis of the carrier.