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WO2019127402A1 - Procédé de synthèse d'image panoramique sphérique, système d'uav, uav, terminal et procédé de commande associé - Google Patents

Procédé de synthèse d'image panoramique sphérique, système d'uav, uav, terminal et procédé de commande associé Download PDF

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Publication number
WO2019127402A1
WO2019127402A1 PCT/CN2017/119941 CN2017119941W WO2019127402A1 WO 2019127402 A1 WO2019127402 A1 WO 2019127402A1 CN 2017119941 W CN2017119941 W CN 2017119941W WO 2019127402 A1 WO2019127402 A1 WO 2019127402A1
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WO
WIPO (PCT)
Prior art keywords
camera
drone
terminal
positions
photos
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/119941
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English (en)
Chinese (zh)
Inventor
陈一
徐普
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780024031.2A priority Critical patent/CN109155820B/zh
Priority to PCT/CN2017/119941 priority patent/WO2019127402A1/fr
Publication of WO2019127402A1 publication Critical patent/WO2019127402A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the invention relates to the field of aerial photography technology of a drone, in particular to a method for synthesizing a spherical panoramic image, a drone system, a drone, a terminal and a control method thereof.
  • the application of the drone is more and more extensive, for example, the user uses the photograph taken by the drone to synthesize the spherical view.
  • the user controls the drone's pan/tilt camera to take photos of various angles, then export the photos and manually stitch the synthetic spherical panoramas using software.
  • such operations are complicated and the user experience is poor.
  • Embodiments of the present invention provide a method for synthesizing a spherical panorama, a drone system, a drone, a terminal, and a control method thereof.
  • a method for synthesizing a spherical panorama of an embodiment of the present invention is for an unmanned aerial vehicle system, the unmanned aerial vehicle system includes a drone and a terminal, and the drone includes a camera, and the synthesizing method includes:
  • the terminal sends a shooting panoramic command to the drone, and the capturing a panoramic command includes capturing a plurality of photos of a preset angle;
  • the drone controls the camera to take the plurality of photos according to the preset angle according to the shooting panoramic command;
  • the plurality of photographs taken by the drone system using the camera are combined into the spherical panorama.
  • the drone can control the camera to take multiple photos of the synthetic spherical panoramic image at different angular positions, and the UAV system synthesizes multiple photos into a spherical panoramic image, thus, the user There is no need to manually synthesize a spherical panorama, and the synthesis of the spherical panorama is simple, thereby improving the user experience.
  • the unmanned aerial vehicle system of the embodiment of the present invention includes a drone and a terminal, the drone includes a camera, and the terminal is configured to send a panoramic command to the drone, and the photographing panoramic command includes a shooting preset. Multiple photos of the angle;
  • the drone is configured to control the camera to capture the plurality of photos according to the preset angle according to the shooting panoramic command;
  • the UAV system is configured to synthesize the plurality of photos taken by the camera to form a spherical panorama.
  • the UAV can control the camera to take multiple photos of the synthetic spherical panorama at different angular positions, and the UAV system synthesizes multiple photos into a spherical panorama, so that the user does not need to manually
  • the synthetic spherical panorama, the spherical panorama is simple to synthesize, thus improving the user experience.
  • the drone of the embodiment of the present invention includes a camera, a first processor, and a first memory, the first memory storing at least one program, and the first processor is configured to execute the at least one program to implement the following steps:
  • the plurality of photos taken by the camera are combined into a spherical panorama.
  • the drone can control the camera to take multiple photos of the synthetic spherical panoramic image at different angular positions and synthesize multiple photos into a spherical panoramic image, so that the user does not need to manually synthesize the spherical panoramic image.
  • the synthetic operation of the spherical panorama is simple, thereby improving the user experience.
  • a method for controlling a terminal according to an embodiment of the present invention, where the method for controlling a terminal includes:
  • the control terminal sends a panoramic command to the drone, and the drone controls the camera to take multiple photos of the combined spherical panorama at different angular positions, and the terminal synthesizes multiple photos into a spherical panorama.
  • the user does not need to manually synthesize the spherical panorama, and the synthesis operation of the spherical panorama is simple, thereby improving the user experience.
  • the terminal of the embodiment of the present invention includes a second processor and a second memory, where the second memory stores at least one program, and the second processor is configured to execute the at least one program to implement the following steps:
  • the terminal sends a panoramic command to the drone, and the drone controls the camera to take multiple photos of the combined spherical panoramic image at different angular positions, and the terminal synthesizes multiple photos into a spherical panoramic view.
  • the user does not need to manually synthesize the spherical panorama, and the synthesis of the spherical panorama is simple, thereby improving the user experience.
  • FIG. 1 is a schematic flow chart of a method for synthesizing a spherical panorama according to an embodiment of the present invention
  • FIG. 2 is a schematic block diagram of a drone system according to an embodiment of the present invention.
  • FIG. 3 is still another schematic flowchart of a method for synthesizing a spherical panorama according to an embodiment of the present invention
  • FIG. 4 is a schematic block diagram of a drone system according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural view of a drone system according to an embodiment of the present invention.
  • FIG. 6 is a schematic flow chart of a method for synthesizing a spherical panoramic image according to an embodiment of the present invention
  • FIG. 7 is still another schematic flowchart of a method for synthesizing a spherical panoramic image according to an embodiment of the present invention.
  • FIG. 8 is a schematic flow chart of a method for synthesizing a spherical panorama according to an embodiment of the present invention
  • FIG. 9 is a schematic block diagram of a drone according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural view of a drone according to an embodiment of the present invention.
  • FIG. 11 is a schematic flowchart diagram of a method for controlling a terminal according to an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a terminal according to an embodiment of the present invention.
  • FIG. 13 is a schematic block diagram of a terminal according to an embodiment of the present invention.
  • FIG. 14 is still another schematic flowchart of a method for controlling a terminal according to an embodiment of the present invention.
  • FIG. 15 is a schematic flowchart of still another method of controlling a terminal according to an embodiment of the present invention.
  • UAV system 100 drone 10, body 11, camera 12, pan/tilt 14, first processor 16, first memory 18, terminal 20, human machine interface 22, second processor 24, second memory 26.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • an embodiment of the present invention provides a method for synthesizing a spherical panorama for use in the drone system 100.
  • the drone system 100 includes a drone 10 and a terminal 20.
  • the drone 10 includes a camera 12.
  • the method of synthesizing the spherical panorama includes:
  • Step S10 The terminal 20 sends a shooting panoramic command to the drone 10, and the capturing the panoramic command includes capturing a plurality of photos of the preset angle;
  • Step S20 The drone 10 controls the camera 12 to take a plurality of photos according to a preset angle according to a shooting panorama command;
  • Step S30 The UAV system 100 uses the multiple photos taken by the camera 12 to form a spherical panorama.
  • a drone system 100 includes a drone 10 and a terminal 20.
  • the drone 10 includes a camera 12.
  • the terminal 20 is configured to send a panoramic command to the drone 10.
  • the shooting panorama command includes taking multiple photos of a preset angle.
  • the drone 10 is for controlling the camera 12 to take a plurality of photos at a preset angle according to a shooting panorama command.
  • the drone system 100 is used to synthesize a plurality of photos taken by the camera 12 into a spherical panorama.
  • step S10, step S20 and step S30 can be implemented by the drone system 100. That is, the method of synthesizing the spherical panorama of the embodiment of the present invention can be realized by the unmanned aerial vehicle system 100 of the embodiment of the present invention, and can be applied to the unmanned aerial vehicle system 100.
  • the drone 10 can control the camera 12 to take multiple photos of the synthetic spherical panoramic image at different angular positions, and the drone system 100 will have multiple photos.
  • the photo synthesizes a spherical panorama, so that the user does not need to manually synthesize the spherical panorama, and the synthesizing operation of the spherical panorama is simple, thereby improving the user experience.
  • the terminal 20 is configured with a drone application software (APP), which can be used to send a panoramic command to the drone 10.
  • the drone system 100 includes a remote control that is provided with a USB interface and/or a wireless communication module.
  • the terminal 20 can connect the remote controller through a USB interface or wirelessly, thereby implementing communication between the terminal 20 and the drone 10.
  • the drone 10 can be provided with a wireless communication module, and the terminal 20 directly communicates with the drone 10 by wireless.
  • the terminal 20 can be a mobile phone, a tablet computer, a notebook computer, a personal computer, a wearable device (such as a smart watch), or the like.
  • terminal 20 includes a human machine interface 22.
  • the method for synthesizing the spherical panorama includes: after the terminal 20 transmits the photographing panorama command, the human machine interface 22 prompts the user that it is currently uncontrollable.
  • terminal 20 includes a human machine interface 22. After the terminal 20 sends the shooting panorama command, the human machine interface 22 is used to prompt the user that it is currently uncontrollable.
  • the human machine interface 22 of the terminal 20 prompts the user that it is currently uncontrollable to avoid affecting or aborting the panoramic view.
  • the human machine interface 22 can be displayed on the display screen of the terminal 20.
  • the display can be a touch display.
  • the drone 10 includes a pan/tilt head 14 and the camera 12 is disposed on the pan/tilt head 14.
  • Step S20 includes step S202: controlling the pan/tilt 14 to drive the camera 12 to take a plurality of photos according to a preset angle.
  • the drone 10 includes a pan-tilt 14 and the camera 12 is disposed at the pan-tilt 14.
  • the drone 10 is used to control the pan/tilt 14 at a preset angle to drive the camera 12 to take a plurality of photos.
  • pan/tilt head 14 can be a three-axis stabilization pan/tilt head 14 and the camera 12 is disposed on the pan-tilt head 14 to ensure that the camera 12 captures a stable picture while the drone 10 is flying at a high speed.
  • the drone 10 controls the pan-tilt 14 to drive the camera 12 to take a plurality of photos according to a preset angle command, including three cases: the pan-tilt 14 does not move, and controls the pitch motion and the horizontal rotation of the body 11 of the drone 10
  • the camera 12 is caused to take photos at different positions; the body 11 of the drone 10 does not move, the pitching motion and horizontal rotation of the control platform 14 cause the camera 12 to take photos at different positions; and the pitch of the drone 10 and the pan/tilt 14 are controlled. Movement and/or horizontal rotation causes the camera 12 to take a photo at a different location.
  • the drone 10 controls the horizontal rotation of the body 11 of the drone 10 according to a shooting instruction such that the camera 12 takes photos at different positions and the pan/tilt 14 performs a pitching motion so that the camera 12 is photographed at different positions. photo.
  • the drone 10 can omit the pan/tilt head 14 and the camera 12 is mounted on the body 11 of the drone 10, and the camera can be directly controlled by the pitching motion and horizontal rotation of the body 11 of the drone 10 12 Take photos in different locations.
  • the drone system 100 is pre-configured with a lateral coincidence rate and a longitudinal coincidence rate for multiple photographs.
  • Step S202 comprising:
  • the drone 10 controls the pan/tilt head 14 to rotate the camera 12 to a different plurality of first positions in the horizontal direction according to the lateral coincidence ratio, and controls the camera 12 to shoot in each of the first positions, and controls the pan/tilt head 14 according to the vertical coincidence ratio.
  • the camera 12 is caused to perform a pitching motion to respectively rotate to a plurality of different second positions and control the camera 12 to take a picture at each of the second positions, thereby obtaining a plurality of photos.
  • the drone system 100 is pre-configured with a lateral coincidence rate and a longitudinal coincidence rate for multiple photographs.
  • the drone 10 is used to control the pan/tilt 14 to rotate the camera 12 to a different plurality of first positions in the horizontal direction according to the lateral coincidence rate, and to control the camera 12 to shoot in each of the first positions, and to control the cloud according to the vertical coincidence ratio.
  • the stage 14 drives the camera 12 to perform a pitching motion to respectively rotate to a plurality of different second positions and control the camera 12 to take a picture at each of the second positions, thereby obtaining a plurality of photos.
  • the pan/tilt 14 drives the camera 12 to rotate 360 degrees in the horizontal direction.
  • the pan/tilt 14 drives the camera 12 to perform a pitching motion between the maximum elevation angle and the maximum depression angle of the gimbal 14 .
  • the plurality of first positions are determined according to the lateral coincidence ratio, and the plurality of first positions may maintain the same angular interval; the plurality of second positions may be determined according to the longitudinal coincidence ratio, and the plurality of second positions may maintain the same angular interval. . In one example, the plurality of first positions maintain the same angular separation of 25 degrees.
  • the method of synthesizing a spherical panorama includes:
  • the pan-tilt 14 When the pan/tilt 14 keeps the camera 12 in a first position, the pan-tilt 14 is controlled to rotate according to the longitudinal coincidence rate to cause the camera 12 to be in a plurality of second positions, respectively, and to control the camera 12 to capture in each of the second positions.
  • the drone 10 when the pan/tilt head 14 maintains the camera 12 in a first position, the drone 10 is configured to control the pan-tilt 14 rotation based on the longitudinal coincidence rate such that the cameras 12 are respectively located in a plurality of second positions and at each The camera 12 is controlled to shoot in the second position.
  • the pan/tilt 14 drives the camera 12 to perform a pitching motion to rotate to a plurality of different second positions and control the camera 12 to shoot at each of the second positions, when the camera 12 Taking all the photos of the second position, and then controlling the pan/tilt 14 to drive the camera 12 to the next first position, and in the next first position, the pan/tilt 14 drives the camera 12 to perform the pitching motion to rotate to a plurality of different second positions.
  • the camera 12 is controlled to shoot at each of the second positions. As such, when the pan/tilt 14 holds the camera 12 in a plurality of different first positions, the camera 12 completes the shooting at a plurality of different second positions, respectively.
  • the number of photos taken by the camera 12 at a plurality of second locations is the same at each of the first locations.
  • the number of photos taken by the camera 12 in a plurality of second positions is the same, which facilitates subsequent stitching and ensures the integrity of the spherical panorama.
  • the method of synthesizing a spherical panorama includes:
  • the pan/tilt 14 controls the camera 12 to rotate according to the lateral coincidence rate to cause the camera 12 to be in a plurality of first positions and to control the camera 12 to capture at each of the first positions.
  • the drone 10 when the pan/tilt head 14 keeps the camera 12 in a second position, the drone 10 is configured to control the pan/tilt head 14 to rotate the camera 12 according to the lateral coincidence rate so that the camera 12 is respectively located in the plurality of first positions.
  • the camera 12 is controlled to shoot at each of the first positions.
  • the pan/tilt 14 drives the camera 12 to rotate to different first positions and controls the camera 12 to shoot in each of the first positions, when the camera 12 captures all The photo of the first position, and then the control platform 12 drives the camera 12 to perform the pitching motion to the next second position and is located at the next second position, the pan/tilt 14 drives the camera 12 to rotate to a plurality of different first positions and The camera 12 is controlled to shoot at each of the first positions.
  • the pan/tilt 14 holds the camera 12 in a plurality of different second positions, the camera 12 completes the shooting at a plurality of different first positions, respectively.
  • the number of photos taken by the camera 12 at the plurality of first locations is the same at each of the second locations.
  • the number of photos taken by the camera 12 at a plurality of first locations is the same, facilitating subsequent stitching and ensuring the integrity of the spherical panorama.
  • the plurality of second positions are -15 degrees, 0 degrees, 30 degrees, 60 degrees, and 90 degrees of the pitch angle of the platform 14 respectively.
  • the plurality of second positions maintain the same angular interval only between the depression angles of 0 to 90 degrees.
  • the pitch angle of the pan/tilt 14 varies depending on the difference of the drone 10.
  • the method for synthesizing the spherical panorama includes: controlling the drone 10 and the pan/tilt 14 to rotate in a horizontal direction to cause the pan/tilt 14 to drive the camera 12 to be respectively located in a plurality of first positions; or controlling the drone 10 Rotating in the horizontal direction to cause the pan/tilt 14 to drive the camera 12 in a plurality of first positions; or controlling the fuselage 11 of the drone 10 to move and the pan/tilt 14 to rotate in the horizontal direction to cause the pan-tilt 14 to drive the cameras 12 respectively Multiple first locations.
  • the drone 10 and the pan/tilt head 14 are used to rotate in a horizontal direction such that the pan/tilt head 14 drives the camera 12 in a plurality of first positions, respectively; or the drone 10 is used to rotate in a horizontal direction to The pan/tilt 14 drives the cameras 12 in a plurality of first positions respectively; or the fuselage 11 of the drone 10 does not move and the pan/tilt 14 is used to rotate in the horizontal direction to cause the pan/tilt 14 to drive the cameras 12 in a plurality of first positions respectively .
  • the pan/tilt 14 drives the camera 12 to rotate to a plurality of different first positions in the horizontal direction.
  • the drone 10 and the pan/tilt 14 can be rotated in the horizontal direction at the same time, so that the pan/tilt head 14 drives the camera 12 to be respectively located in multiple positions. a position, or the drone 10 is rotated in a horizontal direction to cause the pan/tilt 14 to drive the camera 12 in a plurality of first positions, or the fuselage 11 of the drone 10 is stationary and the pan/tilt 14 is rotated in a horizontal direction to make the cloud
  • the table 14 drives the cameras 12 in a plurality of first positions.
  • the drone 10 is rotated in the horizontal direction, that is, the body 11 of the drone 10 is rotated in the horizontal direction.
  • the drone 10 is controlled to rotate in a horizontal direction such that the pan/tilt head 14 drives the camera 12 to be respectively located at a plurality of first positions, or the body 11 of the drone 10 is not moved and the pan/tilt head 14 is rotated in a horizontal direction so that The pan/tilt 14 drives the cameras 12 in a plurality of first positions, which are mature and easy to implement.
  • the pan/tilt 14 when the pan/tilt 14 is rotated alone to prevent the camera from taking a 360-degree photograph, the 360-degree photographing of the camera can be achieved in conjunction with the rotation of the drone 10.
  • the UAV system 100 utilizes the captured multiple photos to form a spherical panorama.
  • the step S30 includes:
  • Step S32 the drone 10 transmits a plurality of photos taken by the camera 12 to the terminal 20;
  • Step S34 The terminal 20 combines a plurality of photos to form a spherical panorama.
  • the drone 10 is used to transmit a plurality of photos taken by the camera 12 to the terminal 20 for synthesizing a spherical panorama using a plurality of photos.
  • the drone 10 transmits a plurality of photos taken by the camera 12 to the terminal 20, and the terminal 20 combines a plurality of photos into a spherical panorama in the drone application software (APP).
  • APP drone application software
  • step S34 includes:
  • Step S342 the terminal 20 displays thumbnails of one of the plurality of photos.
  • Step S344 Upon receiving an input instruction generated based on the user operation thumbnail, the terminal 20 synthesizes a spherical panorama using a plurality of photos and displays a spherical panorama.
  • the terminal 20 is configured to display a thumbnail of one of the plurality of photos.
  • the terminal 20 is configured to use a plurality of photos to form a spherical shape. Panorama and display a spherical panorama.
  • the terminal 20 saves a plurality of photos.
  • the terminal 20 runs the drone application software (APP)
  • the drone application software (APP) can display a thumbnail of one of the plurality of photos on the human machine interface 22.
  • the terminal 20 combines the plurality of photos according to the horizontal coincidence ratio and the vertical coincidence ratio according to the input instruction generated by the user clicking the thumbnail to generate a spherical panorama and display the spherical panorama.
  • step S30 includes:
  • the drone 10 synthesizes a plurality of photos taken by the camera 12 into a spherical panorama and transmits the spherical panorama to the terminal 20.
  • the drone 10 is used to synthesize a plurality of photos taken by the camera 12 into a spherical panorama and transmit the spherical panorama to the terminal 20.
  • Terminal 20 may display a spherical panorama or provide other operations to the user, such as viewing, editing, sending, deleting, and the like.
  • step S30 includes:
  • Step S302 The UAV system 100 combines the multiple photos taken by the camera 12 into a to-be-processed panorama;
  • Step S304 The UAV system 100 acquires the intermediate brightness value and the highest brightness value from the existing sky edge portion of the to-be-processed panorama.
  • Step S306 The UAV system 100 performs gradual filling from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.
  • the drone system 100 is used to synthesize a plurality of photographs taken by the camera 12 into a to-be-processed panorama.
  • the drone system 100 is configured to obtain intermediate brightness values and highest brightness values from existing sky edge portions of the panorama to be processed.
  • the drone system 100 is configured to gradually fill the intermediate brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.
  • the drone 10 cannot control the photo of the sky in which the camera 12 captures a real scene. Therefore, the spherical panorama in which a plurality of photos taken by the camera 12 are directly combined is lacking in the top portion of the sky, and further processing is required.
  • the UAV system 100 combines the multiple photos taken by the camera 12 into a to-be-processed panorama, and uses the color picker to press the HSB (Hues Hue (0-360 degrees), Saturation from the existing sky edge portion of the to-be-processed panorama. Saturation (0-100), Brightness Brightness (0-100) mode selects multiple values.
  • an intermediate value is selected as the intermediate brightness value according to the brightness level, and the maximum value is taken as the highest brightness value.
  • the drone system 100 gradually fills from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.
  • the sky, the cloud are distinguished, and the top portion of the sky is supplemented in a pseudo-like manner, so that the supplementary sky top portion is more natural and true.
  • a camera, or pan/tilt and camera are added at the top of the drone 10 so that the camera can take a photo of the sky of the real scene.
  • the spherical panorama after the multiple photos are combined has the top part of the sky and no further processing is required.
  • the photograph taken by the camera on the top of the drone 10 and the photograph taken by the original camera 12 also have a certain coincidence ratio, for example, the photograph taken by the camera on the top of the drone 10 and the photograph taken by the original camera 12. At least 10 degrees overlap.
  • the drone 10 of the embodiment of the present invention includes a camera 12, a first processor 16, and a first memory 18.
  • the first memory 18 stores at least one program.
  • the first processor 16 is configured to execute at least one program to implement a shooting panoramic command sent by the receiving terminal 20, and the capturing the panoramic command comprises capturing a plurality of photos of the preset angle; according to the shooting panoramic command, the camera 12 is controlled to shoot a plurality of frames according to a preset angle.
  • the photograph; and a plurality of photographs taken by the camera 12 are combined into a spherical panorama.
  • the UAV 10 can control the camera 12 to take multiple photos of a synthetic spherical panorama at different angular positions and synthesize multiple photos into a spherical panorama.
  • the user does not need to manually synthesize a sphere.
  • the panorama, the spherical panorama is simple to synthesize, which improves the user experience.
  • the first processor 16 is configured to execute at least one program to effect transmission of the spherical panorama to the terminal 20.
  • the drone 10 includes a pan-tilt 14 and the camera 12 is disposed at the pan-tilt 14.
  • the first processor 16 is configured to execute at least one program to control the pan/tilt 14 to drive the camera 12 to take a plurality of photos at a preset angle.
  • the drone 10 is pre-configured with a lateral coincidence rate and a longitudinal coincidence rate for a plurality of photographs.
  • the first processor 16 is configured to execute at least one program to enable the drone 10 to control the pan/tilt head 14 to rotate the camera 12 in the horizontal direction to different different first positions according to the lateral coincidence rate and control each of the first positions.
  • the camera 12 captures and controls the pan/tilt 14 to perform a pitching motion according to the longitudinal coincidence rate to respectively rotate to a plurality of different second positions and control the camera 12 to shoot at each of the second positions, thereby obtaining a plurality of photos.
  • the first processor 16 is configured to execute at least one program to control the pan-tilt 14 to rotate according to the vertical coincidence rate to keep the camera 12 located when the pan-tilt 14 holds the camera 12 in a first position.
  • the second position and the camera 12 are controlled to shoot at each of the second positions.
  • the number of photos taken by the camera 12 at a plurality of second locations is the same at each of the first locations.
  • the first processor 16 is configured to execute at least one program to control the pan-tilt 14 to rotate the camera 12 to cause the camera 12 to rotate according to the lateral coincidence rate when the pan-tilt 14 keeps the camera 12 in a second position.
  • Camera 12 is controlled to be photographed at a plurality of first locations and at each of the first locations.
  • the number of photos taken by the camera 12 at the plurality of first locations is the same at each of the second locations.
  • the plurality of second positions are -15 degrees, 0 degrees, 30 degrees, 60 degrees, and 90 degrees of the pitch angle of the platform 14 respectively.
  • the first processor 16 is configured to execute at least one program to control the drone 10 and the pan/tilt 14 to rotate in a horizontal direction to cause the pan/tilt 14 to drive the camera 12 to be located in a plurality of first positions, respectively, or
  • the drone 10 is controlled to rotate in a horizontal direction so that the pan/tilt head 14 drives the camera 12 to be located at a plurality of first positions, or the fuselage 11 of the drone 10 is controlled to move and the pan/tilt head 14 is rotated in a horizontal direction to make the pan/tilt head 14
  • the driving cameras 12 are respectively located at a plurality of first positions.
  • the first processor 16 is configured to execute at least one program to enable the drone 10 to synthesize a plurality of photos taken by the camera 12 into a to-be-processed panorama.
  • the drone 10 has been processed from the panorama. Some of the sky edge parts obtain the intermediate brightness value and the highest brightness value, and the drone 10 gradually fills the intermediate brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge part of the to-be-processed panorama to synthesize the sphere with the top part of the sky. Panorama.
  • a method for controlling a terminal 20 includes:
  • Step S60 The control terminal 20 sends a shooting panoramic command to the drone 10 to cause the drone 10 to control the camera 12 of the drone 10 to take a plurality of photos according to the shooting panoramic command;
  • Step S70 The terminal 20 receives a plurality of photos taken by the camera 12 transmitted by the drone 10 and combines the multiple photos to form a spherical panorama.
  • the control terminal 20 sends a shooting panoramic command to the drone 10, and the drone 10 controls the camera 12 to take multiple photos of the synthetic spherical panorama at different angular positions, and the terminal 20 will Multiple photos are combined into a spherical panorama.
  • the user does not need to manually synthesize a spherical panorama, and the synthesis of the spherical panorama is simple, thereby improving the user experience.
  • terminal 20 includes a human machine interface 22.
  • the method of controlling the terminal 20 includes: after the terminal 20 transmits a shooting panorama command, the human machine interface 22 prompts the user that it is currently uncontrollable.
  • step S70 includes:
  • Step S72 the terminal 20 displays a thumbnail of one of the plurality of photos.
  • Step S74 Upon receiving an input instruction generated based on the user operation thumbnail, the terminal 20 synthesizes a spherical panorama using a plurality of photos and displays a spherical panorama.
  • step S70 includes:
  • Step S702 The terminal 20 combines the plurality of photos captured by the camera 12 into a to-be-processed panorama;
  • Step S704 The terminal 20 acquires an intermediate brightness value and a highest brightness value from the existing sky edge portion of the to-be-processed panorama;
  • Step S706 The terminal 20 performs gradient filling from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.
  • the terminal 20 of the embodiment of the present invention includes a second processor 24 and a second memory 26.
  • the second memory 26 stores at least one program.
  • the second processor 24 is configured to execute at least one program to implement the control terminal 20 to send a panoramic command to the drone 10 to cause the drone 10 to control the camera 12 to take multiple photos according to the shooting panoramic command and the terminal 20 to receive the drone 10 transmission.
  • the camera 12 takes a plurality of photos taken and combines the photos into a spherical panorama.
  • step S60 and step S70 can be implemented by the second processor 24. That is, the method of controlling the terminal 20 of the embodiment of the present invention can be implemented by the terminal 20 of the embodiment of the present invention.
  • the terminal 20 sends a panoramic command to the drone 10, and the drone 10 controls the camera 12 to take multiple photos of the synthetic spherical panorama at different angular positions, and the terminal 20 synthesizes multiple photos.
  • the spherical panorama thus, the user does not need to manually synthesize the spherical panorama, and the synthesis of the spherical panorama is simple, thereby improving the user experience.
  • terminal 20 includes a human machine interface 22.
  • the second processor 24 is configured to execute at least one program to enable the human machine interface 22 to prompt the user that the user is currently uncontrollable after the terminal 20 transmits the shooting panoramic command.
  • the second processor 24 is configured to execute at least one program to enable the terminal 20 to display a thumbnail of one of the plurality of photos and when receiving an input instruction generated based on the user operating the thumbnail.
  • the terminal 20 synthesizes a spherical panorama using a plurality of photos and displays a spherical panorama.
  • the second processor 24 is configured to execute at least one program to implement the terminal 20 to synthesize the plurality of photos captured by the camera 12 into a to-be-processed panorama, and the terminal 20 has an existing sky edge from the to-be-processed panorama.
  • the portion acquires the intermediate brightness value and the highest brightness value and the terminal 20 gradually fills the intermediate brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • a plurality of steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be executed in the form of hardware or in the form of software functional modules.
  • the integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Stereoscopic And Panoramic Photography (AREA)

Abstract

L'invention concerne un procédé de synthèse d'une image panoramique sphérique pour un système de véhicule aérien sans pilote (UAV) (100). Le système d'UAV (100) comprend un UAV (10) et un terminal (20), et l'UAV (10) comprend un appareil photo (12). Le procédé de synthèse comprend les étapes suivantes : le terminal (20) envoie une instruction de prise de vue panoramique à l'UAV (10), l'instruction de prise de vue panoramique comprenant la prise d'une pluralité de photographies avec des angles prédéfinis (S10) ; suivant l'instruction de prise de vue panoramique, l'UAV (10) commande l'appareil photo (12) pour prendre une pluralité de photographies sur la base des angles prédéfinis (S20) ; et le système d'UAV (100) forme une image panoramique sphérique par synthèse de la pluralité de photographies prises par l'appareil photo (12) (S30). L'invention concerne également le système d'UAV (100), l'UAV (10), le terminal (20) et un procédé de commande associé.
PCT/CN2017/119941 2017-12-29 2017-12-29 Procédé de synthèse d'image panoramique sphérique, système d'uav, uav, terminal et procédé de commande associé Ceased WO2019127402A1 (fr)

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CN201780024031.2A CN109155820B (zh) 2017-12-29 2017-12-29 球形全景图的合成方法、无人机系统、无人机、终端及其控制方法
PCT/CN2017/119941 WO2019127402A1 (fr) 2017-12-29 2017-12-29 Procédé de synthèse d'image panoramique sphérique, système d'uav, uav, terminal et procédé de commande associé

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