CN113167577A - Surveying method for a movable platform, movable platform and storage medium - Google Patents
Surveying method for a movable platform, movable platform and storage medium Download PDFInfo
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- CN113167577A CN113167577A CN202080006511.8A CN202080006511A CN113167577A CN 113167577 A CN113167577 A CN 113167577A CN 202080006511 A CN202080006511 A CN 202080006511A CN 113167577 A CN113167577 A CN 113167577A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
A mapping method for a movable platform (600), the movable platform (600) and a storage medium, the movable platform (600) carrying a camera (20,40,700), the method comprising: changing the posture of the photographing device (20,40,700) at the current position so that different parts of the target object are located at preset positions in the photographing window, and acquiring posture information of the photographing device (20,40,700) (S11); the size of the target object is determined based on the current position and the posture information (S12). The target object can be mapped based on a movable platform (600) carrying the camera (20,40, 700).
Description
Technical Field
The present application relates to the field of movable platform technology, and in particular, to a mapping method for a movable platform, and a storage medium.
Background
Surveying and mapping instruments for engineering are often applied to the field of engineering surveying and mapping, but the surveying and mapping instruments for engineering are large in size, complex in measuring process and high in price and are difficult to use for civil use. In one scheme, three-dimensional data after three-dimensional reconstruction can be obtained through the principle of monocular image binocular vision three-dimensional imaging, and then surveying and mapping information of an object in a sight line is solved; the method has larger calculated amount, has larger measurement error for objects at a far position or a near position, and cannot measure the height of the object which cannot appear in the same picture. In another scheme, the depth information corresponding to each pixel of the RGB Image can be obtained through a self-coding network in a deep learning mode through U-Net (volumetric Networks for biological Image segmentation), so that the purpose of mapping is achieved.
Disclosure of Invention
Based on this, the application provides a surveying and mapping method for a movable platform, the movable platform and a storage medium, which can survey and map a target object based on the movable platform carrying a shooting device, and the calculation amount is small.
In a first aspect, an embodiment of the present application provides a mapping method for a movable platform carrying a camera, the method including:
at the current position, different parts of a target object are respectively positioned at the same preset positions in a shooting window by changing the posture of the shooting device, and posture information of the shooting device when the different parts of the target object are respectively positioned at the same preset positions in the shooting window is obtained;
and determining the corresponding size of the target object according to the position information of the current position and the posture information of the shooting device when different parts of the target object are respectively positioned at the same preset position in the shooting window.
In a second aspect, an embodiment of the present application provides a mapping method for a movable platform carrying a camera, the method including:
acquiring the height of the shooting device relative to the ground at the current position;
at the current position, the bottom of a target object is positioned at a preset position in a shooting window by changing the posture of the shooting device, and first posture information of the shooting device is obtained;
and determining a target distance between the movable platform and the target object according to the height of the shooting device relative to the ground at the current position and the first attitude information.
In a third aspect, an embodiment of the present application provides a movable platform, where the movable platform can carry a shooting device;
the movable platform comprises a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
at the current position, different parts of a target object are respectively positioned at the same preset positions in a shooting window by changing the posture of the shooting device, and posture information of the shooting device when the different parts of the target object are respectively positioned at the same preset positions in the shooting window is obtained;
and determining the corresponding size of the target object according to the position information of the current position and the posture information of the shooting device when different parts of the target object are respectively positioned at the same preset position in the shooting window.
In a fourth aspect, embodiments of the present application provide a movable platform, where the movable platform can carry a shooting device;
the movable platform comprises a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
acquiring the height of the shooting device relative to the ground at the current position;
at the current position, the bottom of a target object is positioned at a preset position in a shooting window by changing the posture of the shooting device, and first posture information of the shooting device is obtained;
and determining a target distance between the movable platform and the target object according to the height of the shooting device relative to the ground at the current position and the first attitude information.
In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the above-mentioned method.
The embodiment of the application provides a surveying and mapping method for a movable platform, the movable platform and a storage medium, different parts of a target object are respectively positioned at the same preset positions in a shooting window by changing the posture of a shooting device, posture information of the shooting device when the different parts of the target object are respectively positioned at the same preset positions in the shooting window is obtained, and the corresponding size of the target object is determined according to the posture information, so that the target object can be surveyed and mapped based on the movable platform carrying the shooting device, the surveying and mapping method is simple and convenient, and the calculated amount is small; and the target object can be mapped when the size of the target object is larger or the target object is closer, so that the shooting window of the shooting device cannot completely cover the target object.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the embodiments of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a mapping method for a movable platform according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a mobile platform carrying a camera according to an embodiment;
FIG. 3 is a diagram of a scene in which a target object is mapped, according to one embodiment;
FIG. 4 is a diagram illustrating a bottom of a target object located at a first predetermined position in a capture window according to one embodiment;
FIG. 5 is a diagram illustrating a top portion of a target object located at a first predetermined position in a capture window according to one embodiment;
FIG. 6 is a diagram of a scenario in which a width of a target object is determined, according to an embodiment;
FIG. 7 is a diagram of a scene in which a target object is mapped, according to an embodiment;
fig. 8 is a schematic flow chart of a mapping method for a movable platform according to another embodiment of the present application;
fig. 9 is a schematic block diagram of a movable platform provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a mapping method for a movable platform according to an embodiment of the present disclosure.
The surveying method may be applied in a movable platform, or may be applied in a camera carried by the movable platform, or the steps of the surveying method may be performed by both the movable platform and the camera carried by the movable platform.
Illustratively, the movable platform comprises at least one of an unmanned aerial vehicle, a cradle head, an unmanned vehicle and a mobile terminal. The mobile terminal may include at least one of a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a wearable device, a remote controller, and the like.
Further, unmanned vehicles can be rotor-type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, and octa-rotor unmanned aerial vehicles, and also can be fixed-wing unmanned aerial vehicles.
In some embodiments, the movable platform comprises a mobile phone holder, and the camera comprises a camera built in the mobile phone. In other embodiments, the movable platform comprises a camera pan and tilt head and the camera comprises a camera. In some other embodiments, the movable platform comprises a cell phone and the camera comprises a camera built into the cell phone.
For example, a change in the attitude of the movable platform can cause the attitude of the camera to change, and thus the shooting direction to change, e.g., an ascent, descent, left turn, or right turn of the unmanned aerial vehicle can cause the shooting direction to move up, down, left, or right; for example, the attitude of the shooting device can be changed by the change of the attitude of the holder; for example, a user may move or rotate a movable platform, such as a cell phone, to change the shooting direction of the camera.
Illustratively, as shown in fig. 2, the movable platform includes a cradle head 10, and the cradle head 10 can carry a shooting device 20, such as a mobile phone, and the shooting device 20 includes a camera built in the mobile phone.
Illustratively, the pan/tilt head 10 includes at least one of a Pitch axis (Pitch axis) motor 11 that controls a Pitch motion, a Roll axis (Roll axis) motor 12 that controls a Roll motion, and a YAW axis (YAW axis) motor 13 that controls a translational motion.
When the tripod head 10 is in a use state, the rotation of the pitch axis motor 11 can enable the shooting device 20 carried by the tripod head 10 to make a pitch motion relative to the handle of the tripod head 10, that is, the shooting device 20 reciprocates back and forth between the farthest end and the nearest end away from the top of the handle, and the motion path is circular. When the tripod head 10 is in a use state, the rolling motor 12 rotates to enable the shooting device 20 carried by the tripod head 10 to roll relative to the handle of the tripod head 10, that is, the shooting device 20 rotates around itself at a fixed position away from the handle. When the tripod head 10 is in a use state, the translation shaft motor 13 rotates to enable the shooting device 20 carried by the tripod head 10 to move in the same plane perpendicular to the axis of the handle of the tripod head 10.
Illustratively, as shown in fig. 3, the movable platform includes an unmanned aerial vehicle 30, and the unmanned aerial vehicle 30 can carry a camera 40, such as a camera, and the camera 40 includes a camera built in the camera. Illustratively, the photographing device 40 is mounted on the unmanned aerial vehicle 30 through a cradle head. The shooting direction of the shooting device 40 can be changed by adjusting the posture of the pan/tilt head.
As shown in fig. 1, the mapping method for a movable platform of the embodiment of the present application includes steps S11 to S12.
And S11, in the current position, by changing the posture of the shooting device, different parts of the target object are respectively positioned at the same preset positions in the shooting window, and posture information of the shooting device when the different parts of the target object are respectively positioned at the same preset positions in the shooting window is obtained.
In some embodiments, the location of the target object comprises at least one of: bottom, top, left side, right side. It will be appreciated that the target object location may also include a central portion, a dog-ear portion, a protrusion, a depression, etc.
As shown in fig. 3, the target object includes a tree, and the bottom and the top of the target object can be respectively located at the same preset positions in the shooting window by changing the posture of the shooting device. For example, by changing the posture of the photographing device, the bottom of the target object is located at the same preset position in the photographing window, and by changing the posture of the photographing device, the top of the target object is located at the same preset position in the photographing window.
Illustratively, the movable platform comprises a tripod head, the shooting device is mounted on the tripod head, and the posture of the shooting device can be adjusted by controlling the action of a motor of the tripod head.
For example, at least one of a pitch axis motor, a roll axis motor, and a yaw axis motor of the movable platform may be controlled to rotate to adjust the attitude of the photographing device.
For example, the posture of the shooting device may be changed by a user, for example, the user holds a mobile terminal such as a mobile phone, and changes the posture of the shooting device by moving or rotating the mobile terminal, or the user directly operates a pan/tilt head to change the posture of the pan/tilt head to adjust the posture of the shooting device.
In some embodiments, the pose information comprises at least one of: pitch angle, yaw angle. Illustratively, the attitude information is acquired by an attitude sensor built in the camera and/or an attitude sensor built in the movable platform.
Illustratively, the attitude sensor may include at least one of a gyroscope, an electronic compass, an acceleration sensor, a direction sensor, an Inertial Measurement Unit (IMU), and the like. The inertial measurement unit is a device for measuring the three-axis attitude angle and acceleration of an object, and can comprise a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer.
For example, the obtaining of the posture information of the photographing device when different parts of the target object are respectively located at the same preset positions in the photographing window includes: and when the bottom of the target object is located at a first preset position in the shooting window, acquiring first posture information of the shooting device.
For example, the obtaining of the posture information of the photographing device when different parts of the target object are respectively located at the same preset positions in the photographing window includes: and when the top of the target object is located at a second preset position in the shooting window, acquiring second posture information of the shooting device.
It is understood that the photographing window may represent a viewing range of the photographing device, and when an image photographed by the photographing device is not cropped, an edge of the image may be an edge of the photographing window. As shown in fig. 4 and 5, the box therein may represent the shooting window, or the content in the box may represent a display interface of a display device of the movable platform or a display device of the control end of the movable platform, and the display device displays an image which is shot by the shooting device and is not cropped. The preset position may be any position in the shooting window or the display interface, for example, the preset position may be the center of the shooting window or the display interface, and of course, the preset position may also be located at the middle upper portion, the middle lower portion, and the like of the shooting window or the display interface.
Referring to fig. 3 and 4, when the bottom of the target object is located at a first predetermined position Q1 in the shooting window, first posture information of the shooting device is obtained. Illustratively, the first posture information includes an included angle β between a line connecting the bottom of the target object and the shooting device and a horizontal line.
Referring to fig. 3 and 5, when the top of the target object is located at a second predetermined position Q2 in the shooting window, second posture information of the shooting device is obtained. Illustratively, the second posture information includes an included angle α between a connecting line of the top of the target object and the shooting device and a horizontal line.
For example, the attitude sensor built in the shooting device and/or the attitude sensor built in the movable platform are calibrated to have a horizontal direction. Along with the change of the attitude of the shooting device, for example, the rotation of a pitch shaft motor of the holder can enable the shooting device carried by the holder to make pitch motion relative to a handle of the holder, and the attitude sensor outputs corresponding pitch angle information. When the posture of the shooting device is adjusted to enable the bottom of the target object to be located at a first preset position in the shooting window, the included angle beta can be determined according to pitch angle information output by the posture sensor; when the posture of the shooting device is adjusted to enable the top of the target object to be located at the first preset position in the shooting window, the included angle alpha can be determined according to pitch angle information output by the posture sensor.
Illustratively, the first preset position and the second preset position are arranged in a superposition or interval mode. For example, the first preset position for determining the target distance is the same as the second preset position in the display interface of the display device. When the first preset position and the second preset position are set at an interval, the first posture information and the second posture information may be processed into posture information corresponding to the same preset position in the shooting window according to the distance between the first preset position and the second preset position.
And S12, determining the corresponding size of the target object according to the position information of the current position and the posture information of the shooting device when different parts of the target object are respectively positioned at the same preset position in the shooting window.
In some embodiments, the respective dimensions of the target object are at least one of: the height of the target object, or the width of the target object. Of course, the distance between different locations on the target object, etc. may also be determined.
In some embodiments, the location information of the current location comprises at least one of: the height of the shooting device relative to the ground and the target distance of the shooting device relative to the target object.
As shown in fig. 3, the height of the camera relative to the ground at the current position may be represented as h, and the target distance of the camera relative to the target object may be represented as l.
In some embodiments, the obtaining the height of the camera relative to the ground at the current position includes: and acquiring the height of the shooting device relative to the ground, which is input by a user. It will be appreciated that the height of the camera relative to the ground may be input by the user.
Illustratively, a movable platform, such as an unmanned aerial vehicle, is communicatively coupled to a control terminal where a user may input an altitude at which the movable platform is located. Or the user can input the height of the shooting device relative to the ground on the mobile phone by holding the movable platform such as the mobile phone or a mobile phone holder carrying the mobile phone by hand. For example, the user may input the user's height, and the height of the camera relative to the ground may be determined based on the height and the height of the movable platform itself.
In other embodiments, the height of the camera relative to the ground is obtained by a height sensor built in the camera or a height sensor built in the body of the movable platform.
Illustratively, the height sensor includes at least one of an optical sensor (e.g., a camera, a binocular camera, etc.), an ultrasonic sensor, a barometer, a radar system (e.g., a millimeter wave radar), a laser system, and the like. The height of the shooting device relative to the ground can be more accurately determined through the height sensor.
In some embodiments, the target distance is obtained by a distance sensor built into the camera and/or a distance sensor built into the movable platform.
Illustratively, the distance sensor includes at least one of an optical sensor (e.g., a camera, a binocular camera, etc.), an ultrasonic sensor, a radar system (e.g., a millimeter wave radar), a laser system, and the like. The target distance of the shooting device relative to the target object can be more accurately determined through the distance sensor.
In other embodiments, the target distance of the camera relative to the target object may be calculated from the height of the camera relative to the ground and the attitude information.
Illustratively, the method further comprises: and determining a target distance between the shooting device and the target object according to the height of the shooting device relative to the ground and the first attitude information.
Referring to fig. 3, a target distance l between the photographing device and the target object may be determined according to a height h of the photographing device relative to the ground at the current position and an included angle β between a line connecting the bottom of the target object and the photographing device and a horizontal line when the bottom of the target object is located at a first preset position Q1 in the photographing window.
In some embodiments, the determining the corresponding size of the target object according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset positions in the photographing window includes: and determining the height of the target object according to the height of the shooting device relative to the ground, the target distance of the shooting device relative to the target object and the second attitude information.
Referring to fig. 3, the height H of the target object may be determined to be l × tan α + H according to the height H of the shooting device relative to the ground at the current position, the target distance l, and an included angle α between a connection line between the top of the target object and the shooting device and a horizontal line when the top of the target object is located at a second preset position Q2 in the shooting window.
In some embodiments, the mapping method for a movable platform comprises: acquiring the height of the shooting device relative to the ground at the current position; at the current position, different parts of the target object are respectively positioned at the same preset positions in the shooting window by changing the posture of the shooting device, and posture information of the shooting device when the different parts of the target object are respectively positioned at the same preset positions in the shooting window is obtained; and determining the corresponding size of the target object according to the height of the shooting device relative to the ground and the attitude information of the shooting device when different parts of the target object are respectively positioned at the same preset positions in the shooting window.
For example, the height of the target object may be determined according to the height of the photographing device relative to the ground, the first posture information, and the second posture information.
For example, a target distance between the camera and the target object may be determined according to the height of the camera relative to the ground and the first posture information; and determining the height of the target object according to the height of the shooting device relative to the ground, the target distance and the second posture information.
In some embodiments, the obtaining the posture information of the photographing apparatus when different parts of the target object are respectively located at the same preset positions in the photographing window further includes: acquiring third attitude information of the shooting device when the left side of the target object is located at a second preset position in the shooting window; and acquiring fourth posture information of the shooting device when the right side of the target object is located at a second preset position in the shooting window.
Referring to fig. 6, when the left side of the target object is located at a second preset position in the shooting window, third posture information of the shooting device is obtained. Illustratively, the third posture information includes an included angle γ between a connection line between the left side of the target object and the shooting device and the shooting direction of the shooting device. It is understood that the shooting direction is perpendicular to a face of the target object opposite to the shooting device. The angle γ may be determined according to the yaw angle of the camera.
Referring to fig. 6, when the right side of the target object is located at a second preset position in the shooting window, fourth posture information of the shooting device is obtained. Illustratively, the fourth posture information includes an angle θ between a connection line between the right side of the target object and the shooting device and the shooting direction of the shooting device. The included angle theta can be determined according to the yaw angle of the shooting device.
For example, the width of the target object may be determined according to the third posture information and the fourth posture information, and a target distance of the photographing device relative to the target object.
As shown in fig. 6, it is possible to determine s1 ═ l × tan γ from the target distance l and the included angle γ, determine s2 ═ l × tan θ from the target distance l and the included angle θ, and determine that the width of the side of the target object opposite to the photographing device is s1+ s 2.
In some embodiments, the method further comprises: and determining the area of the surface of the target object opposite to the shooting device according to the height of the target object and the width of the target object.
For example, the area of the side of the target object opposite to the camera may be determined according to the product of the height of the target object and the width of the target object.
In some embodiments, the method further comprises: and determining the aspect ratio and/or the zooming multiple of the image shot by the shooting device according to the height of the target object and the width of the target object.
For example, the aspect ratio of the image captured by the capturing device may be determined according to the ratio of the width of the target object to the height of the target object, so that the captured image may better represent the target object, for example, the entire target object may be captured, and irrelevant objects far away from the target object may be removed.
For example, the zoom factor of the photographing apparatus may be determined according to the width of the target object and/or the height of the target object, for example, when the width of the target object is wide or the height of the target object is high, the zoom factor is decreased to photograph the complete target object.
In some embodiments, the method further comprises: and displaying the boundary of the shooting window and the preset position on the movable platform or a display device at the control end of the movable platform.
Illustratively, as shown in fig. 4 and 5, the boxes therein may represent the boundaries of the photographing window, and a first preset position Q1 in the photographing window is also shown in fig. 4, and a second preset position Q2 in the photographing window is shown in fig. 5. It will be appreciated that the preset position may be indicated by displaying a preset mark, such as a "cross" indicating line, at the preset position.
For example, an image to be photographed by the photographing device may be displayed in the photographing window, so that the posture of the photographing device may be adjusted according to a position relationship between the preset position and a corresponding portion of the target object in the photographing window, so that the corresponding portion of the target object is located at the preset position in the photographing window.
Illustratively, the method further comprises: and prompting a user to change the posture of the shooting device so that the corresponding part of the target object is located at a preset position in the shooting window. For example, the user may be prompted by way of a displayed text and/or graphical prompt or by way of speech.
For example, the posture of the camera may be changed by a user, for example, the user holds a mobile terminal such as a mobile phone, and changes the posture of the camera by moving or rotating the mobile terminal, or the user directly applies a force to the pan/tilt head to change the posture of the pan/tilt head to adjust the posture of the camera.
Illustratively, the method further comprises: and controlling the movable platform to change the posture of the shooting device so that the corresponding part of the target object is positioned at a preset position in the shooting window.
For example, the movable platform may change the posture of the photographing apparatus automatically or according to a control operation of a user, and stop changing the posture of the photographing apparatus automatically or according to a control operation of a user when the corresponding portion of the target object is located at a preset position in the photographing window.
Illustratively, the method further comprises: and determining that the corresponding part of the current target object is located at a preset position in the shooting window according to the determination operation of the user.
For example, when the user determines that the corresponding portion of the target object is located at the preset position in the shooting window, the user may press a key corresponding to the determination operation, stop changing the posture of the shooting device according to the determination operation of the user, and obtain the current posture information of the shooting device.
In other embodiments, the method further comprises: selecting a corresponding part of the target object in the shooting window; and controlling the movable platform to change the posture of the shooting device according to the selected part so that the corresponding part of the target object is positioned at a preset position in the shooting window.
For example, the corresponding portion in the captured image, such as the top, bottom, etc. of the target object, may be determined based on an image recognition algorithm, such as recognizing the corresponding portion in the image based on a trained neural network model. Therefore, the posture of the shooting device can be adjusted according to the position relation between the part and the preset position in the shooting window, so that the corresponding part of the target object is located at the preset position in the shooting window. The automatic alignment of the corresponding part of the target object and the preset position in the shooting window can be realized, so that the mapping can be carried out more conveniently.
Illustratively, the selecting the corresponding portion of the target object in the shooting window includes: displaying the shooting window on the movable platform or a display device at the control end of the movable platform, and identifying the contour line of the target object; and determining the corresponding part of the target object in the shooting window according to the selection operation of the contour line by the user.
For example, the contour of the target object in the shooting window may be determined based on an image recognition algorithm, for example, a trained neural network model. And then displaying the contour line of the target object on a display device at the movable platform or the control end of the movable platform so that a user can select corresponding parts of the target object, such as the top, the bottom and the like of the target object.
In some embodiments, the obtaining the height of the camera relative to the ground at the current position includes: and acquiring the height of the shooting device relative to the bottom of the target object. Illustratively, the height of the shooting device relative to the ground comprises: the height of the shooting device relative to the bottom of the target object.
Illustratively, the method further comprises: and determining the height of the shooting device relative to the bottom of the target object according to the attitude information of the shooting device at different distances from the target object and the difference of the different distances.
For example, when the ground under the user and the ground under the target object have a height difference, and the height difference is unknown, the height of the camera relative to the bottom of the target object may be determined.
Illustratively, the acquiring the height of the shooting device relative to the bottom of the target object comprises: and determining the height of the shooting device relative to the bottom of the target object according to the attitude information of the shooting device at different distances from the target object and the difference of the different distances.
Exemplarily, as shown in fig. 7, when the photographing device is located at a position 51, the posture of the photographing device is changed to enable the bottom of the target object to be located at a preset position in the photographing window, and an included angle β 1 between a connection line of the bottom of the target object and the photographing device and a horizontal line is obtained; when the shooting device is located at the position 52, the bottom of the target object is located at a preset position in the shooting window by changing the posture of the shooting device, and an included angle β 2 between a connecting line of the bottom of the target object and the shooting device and a horizontal line is obtained. Where the position 51 and the position 52 are on the same horizontal line, and the distance between the position 51 and the position 52 can be represented as s, the height h1 of the photographing device relative to the bottom of the target object can be determined according to h1 ÷ tan β 1-s ═ h1 ÷ tan β 2.
As shown in fig. 7, when the photographing device is located at the position 51, the top of the target object is located at a preset position in the photographing window by changing the posture of the photographing device, and an included angle α 1 between a line connecting the top of the target object and the photographing device and a horizontal line is obtained, so that the height H1 ═ H1 ÷ tan β 1 × tan α 1+ H1 of the target object can be determined.
According to the surveying and mapping method for the movable platform, different parts of the target object are respectively located at the same preset positions in the shooting window by changing the posture of the shooting device, posture information of the shooting device when the different parts of the target object are respectively located at the same preset positions in the shooting window is obtained, and the corresponding size of the target object is determined according to the posture information, so that the target object can be surveyed and mapped based on the movable platform carrying the shooting device, simplicity and convenience are realized, and the calculated amount is small; and the target object can be mapped when the size of the target object is larger or the target object is closer, so that the shooting window of the shooting device cannot completely cover the target object.
Attitude information when shooting the corresponding part of the target object is obtained through the attitude sensor with higher accuracy, and the target object can be more accurately mapped according to the attitude information.
By determining the length, width and other dimensions of the target object, shooting parameters of the shooting device can be determined so as to improve composition and shooting quality.
Please refer to fig. 8 in conjunction with the previous embodiment of the present application, and fig. 8 is a flowchart illustrating a mapping method for a movable platform according to another embodiment of the present application.
The movable platform can carry a shooting device.
The surveying method may be applied in a movable platform, or may be applied in a camera carried by the movable platform, or the steps of the surveying method may be performed by both the movable platform and the camera carried by the movable platform.
Illustratively, the movable platform comprises at least one of an unmanned aerial vehicle, a cradle head, an unmanned vehicle and a mobile terminal. The mobile terminal may include at least one of a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a wearable device, a remote controller, and the like.
Further, unmanned vehicles can be rotor-type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, and octa-rotor unmanned aerial vehicles, and also can be fixed-wing unmanned aerial vehicles.
In some embodiments, the movable platform comprises a mobile phone holder, and the camera comprises a camera built in the mobile phone. In other embodiments, the movable platform comprises a camera pan and tilt head and the camera comprises a camera. In some other embodiments, the movable platform comprises a cell phone and the camera comprises a camera built into the cell phone.
As shown in fig. 8, the mapping method for a movable platform according to the embodiment of the present application includes steps S210 to S230.
S210, acquiring the height of the shooting device relative to the ground at the current position.
S220, at the current position, the bottom of the target object is located at a preset position in a shooting window by changing the posture of the shooting device, and first posture information of the shooting device is obtained.
In some embodiments, the movable platform comprises a pan-tilt, the camera being mounted on the pan-tilt; the changing the posture of the photographing apparatus includes: and controlling the motor of the holder to act so as to adjust the posture of the shooting device.
And S230, determining a target distance between the movable platform and the target object according to the height of the shooting device relative to the ground at the current position and the first attitude information.
Illustratively, the first posture information includes an included angle between a connecting line of the bottom of the target object and the shooting device and a horizontal line.
In some embodiments, the method further comprises: and displaying the boundary of the shooting window and the preset position on the movable platform or a display device at the control end of the movable platform.
Illustratively, the method further comprises: prompting a user to change the posture of the photographing apparatus so that the bottom of the target object is located at the preset position in the photographing window.
Illustratively, the method further comprises: controlling the movable platform to change the posture of the photographing apparatus such that the bottom of the target object is located at the preset position in the photographing window.
Illustratively, the method further comprises: and according to the determination operation of the user, determining that the bottom of the current target object is located at a preset position in the shooting window.
In other embodiments, the method further comprises: selecting the bottom of the target object in the shooting window; and controlling the movable platform to change the posture of the shooting device according to the bottom of the target object in the shooting window so that the bottom of the target object is located at a preset position in the shooting window.
Illustratively, the selecting the bottom of the target object in the shooting window includes: displaying the shooting window on the movable platform or a display device at the control end of the movable platform, and identifying the contour line of the target object; and determining the bottom of the target object in the shooting window according to the selection operation of the contour line by the user.
In some embodiments, the obtaining the height of the camera relative to the ground at the current position includes: and acquiring the height of the shooting device relative to the ground at the current position, which is input by a user.
In some embodiments, the obtaining the height of the camera relative to the ground at the current position includes: and acquiring the relative ground height of the shooting device at the current position through a height sensor arranged in the shooting device or a height sensor arranged in the machine body of the movable platform.
In some embodiments, the obtaining the height of the camera relative to the ground at the current position includes: and acquiring the height of the shooting device relative to the bottom of the target object.
Illustratively, the acquiring the height of the shooting device relative to the bottom of the target object comprises: and determining the height of the shooting device relative to the bottom of the target object according to the attitude information of the shooting device at different distances from the target object and the difference of the different distances.
In some embodiments, the method further comprises: acquiring third attitude information of the shooting device when the left side of the target object is located at a second preset position in the shooting window; acquiring fourth attitude information of the shooting device when the right side of the target object is located at a second preset position in the shooting window; and determining the width of the target object according to the third attitude information, the fourth attitude information and the target distance.
According to the surveying and mapping method for the movable platform, different parts of the target object are respectively located at the same preset positions in the shooting window by changing the posture of the shooting device, posture information of the shooting device when the different parts of the target object are respectively located at the same preset positions in the shooting window is obtained, and the corresponding size of the target object is determined according to the posture information, so that the target object can be surveyed and mapped based on the movable platform carrying the shooting device, simplicity and convenience are realized, and the calculated amount is small; and the target object can be mapped when the size of the target object is larger or the target object is closer, so that the shooting window of the shooting device cannot completely cover the target object.
Referring to fig. 9 in conjunction with the above embodiments, fig. 9 is a schematic block diagram of a movable platform 600 according to an embodiment of the present application.
In some embodiments, as shown in fig. 9, the movable platform 600 can be equipped with an external camera 700. In other embodiments, the moveable platform may have a camera built into it.
Illustratively, the movable platform comprises at least one of an unmanned aerial vehicle, a cradle head, an unmanned vehicle and a mobile terminal. The mobile terminal may include at least one of a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a wearable device, a remote controller, and the like.
Further, unmanned vehicles can be rotor-type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, and octa-rotor unmanned aerial vehicles, and also can be fixed-wing unmanned aerial vehicles.
In some embodiments, the movable platform comprises a mobile phone holder, and the camera comprises a camera built in the mobile phone. In other embodiments, the movable platform comprises a camera pan and tilt head and the camera comprises a camera. In some other embodiments, the movable platform comprises a cell phone and the camera comprises a camera built into the cell phone.
In particular, the movable platform 600 includes a processor 601 and a memory 602.
Illustratively, the processor 601 and the memory 602 are coupled by a bus 603, such as an I2C (Inter-integrated Circuit) bus.
Specifically, the Processor 601 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 602 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.
Wherein the processor 601 is adapted to run a computer program stored in the memory 602 and to implement the aforementioned mapping method for a movable platform when executing the computer program.
In some embodiments, the processor 601 is configured to run a computer program stored in the memory 602, and when executing the computer program, implements the following steps:
at the current position, different parts of a target object are respectively positioned at the same preset positions in a shooting window by changing the posture of the shooting device, and posture information of the shooting device when the different parts of the target object are respectively positioned at the same preset positions in the shooting window is obtained;
and determining the corresponding size of the target object according to the position information of the current position and the posture information of the shooting device when different parts of the target object are respectively positioned at the same preset position in the shooting window.
In some embodiments, the processor 601 is configured to run a computer program stored in the memory 602, and when executing the computer program, implements the following steps:
acquiring the height of the shooting device relative to the ground at the current position;
at the current position, the bottom of a target object is positioned at a preset position in a shooting window by changing the posture of the shooting device, and first posture information of the shooting device is obtained;
and determining a target distance between the movable platform and the target object according to the height of the shooting device relative to the ground at the current position and the first attitude information.
The specific principle and implementation of the movable platform provided in the embodiment of the present application are similar to those of the mapping method for a movable platform in the foregoing embodiments, and are not described herein again.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the mapping method for a movable platform provided in the foregoing embodiment.
The computer readable storage medium may be an internal storage unit of the removable platform described in any previous embodiment, for example, a hard disk or a memory of the removable platform. The computer readable storage medium may also be an external storage device of the removable platform, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the removable platform.
According to the movable platform and the computer-readable storage medium provided by the embodiment of the application, different parts of the target object are respectively located at the same preset positions in the shooting window by changing the posture of the shooting device, the posture information of the shooting device when the different parts of the target object are respectively located at the same preset positions in the shooting window is obtained, and the corresponding size of the target object is determined according to the posture information, so that the target object can be mapped based on the movable platform carrying the shooting device, the operation is simple and convenient, and the calculated amount is small; and the target object can be mapped when the size of the target object is larger or the target object is closer, so that the shooting window of the shooting device cannot completely cover the target object.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (47)
1. A mapping method for a movable platform carrying a camera, the method comprising:
at the current position, different parts of a target object are respectively positioned at the same preset positions in a shooting window by changing the posture of the shooting device, and posture information of the shooting device when the different parts of the target object are respectively positioned at the same preset positions in the shooting window is obtained;
and determining the corresponding size of the target object according to the position information of the current position and the posture information of the shooting device when different parts of the target object are respectively positioned at the same preset position in the shooting window.
2. The method of claim 1, wherein the pose information comprises at least one of: pitch angle, yaw angle.
3. The method of claim 1, wherein the different portions of the target object comprise at least one of: bottom, top, left side, right side.
4. The method of claim 1, wherein the respective dimensions of the target object include at least one of: the height of the target object, or the width of the target object.
5. The method according to any one of claims 1 to 4, wherein the attitude information is acquired by an attitude sensor built in the camera and/or an attitude sensor built in the movable platform.
6. The method according to any of claims 1-4, wherein the location information of the current location comprises at least one of: the height of the shooting device relative to the ground and the target distance of the shooting device relative to the target object.
7. The method of claim 6, wherein the height of the camera relative to the ground is obtained by a height sensor built into the camera or a height sensor built into the body of the movable platform.
8. The method of claim 6, wherein the height of the camera relative to the ground is input by a user.
9. The method of claim 6, wherein the target distance is obtained by a distance sensor built into the camera and/or a distance sensor built into the movable platform.
10. The method of claim 6, wherein the target distance is calculated from a height of the camera relative to a ground surface and the attitude information.
11. The method according to claim 10, wherein the obtaining of the posture information of the photographing device when different parts of the target object are respectively located at the same preset positions in the photographing window comprises:
when the bottom of the target object is located at a first preset position in the shooting window, acquiring first posture information of the shooting device;
the method further comprises the following steps:
and determining a target distance between the shooting device and the target object according to the height of the shooting device relative to the ground and the first attitude information.
12. The method of claim 11, wherein the first pose information comprises an angle between a line connecting the bottom of the target object and the camera and a horizontal line.
13. The method according to any one of claims 1-12, further comprising:
and displaying the boundary of the shooting window and the preset position on the movable platform or a display device at the control end of the movable platform.
14. The method of claim 13, further comprising:
prompting a user to change the posture of the shooting device so that the corresponding part of the target object is located at the preset position in the shooting window.
15. The method of claim 13, further comprising:
controlling the movable platform to change the posture of the photographing apparatus so that the corresponding portion of the target object is located at the preset position in the photographing window.
16. The method according to any one of claims 13-15, further comprising:
and determining that the corresponding part of the current target object is located at a preset position in the shooting window according to the determination operation of the user.
17. The method according to any one of claims 1-12, further comprising:
selecting a corresponding part of the target object in the shooting window;
and controlling the movable platform to change the posture of the shooting device according to the selected part so that the corresponding part of the target object is positioned at a preset position in the shooting window.
18. The method of claim 17, wherein selecting the corresponding portion of the target object in the capture window comprises:
displaying the shooting window on the movable platform or a display device at the control end of the movable platform, and identifying the contour line of the target object;
and determining the corresponding part of the target object in the shooting window according to the selection operation of the contour line by the user.
19. The method of claim 6, wherein the height of the camera relative to the ground comprises: the height of the shooting device relative to the bottom of the target object.
20. The method of claim 19, further comprising:
and determining the height of the shooting device relative to the bottom of the target object according to the attitude information of the shooting device at different distances from the target object and the difference of the different distances.
21. The method according to any one of claims 1 to 20, wherein the obtaining of the posture information of the photographing apparatus when different parts of the target object are respectively located at the same preset positions in the photographing window comprises:
when the top of the target object is located at a second preset position in the shooting window, second posture information of the shooting device is obtained;
determining the corresponding size of the target object according to the position information of the current position and the posture information of the shooting device when different parts of the target object are respectively located at the same preset positions in the shooting window, including:
and determining the height of the target object according to the height of the shooting device relative to the ground, the target distance of the shooting device relative to the target object and the second attitude information.
22. The method of claim 21, wherein the second pose information comprises an angle between a line connecting the top of the target object and the camera and a horizontal line.
23. The method according to any one of claims 1 to 22, wherein the obtaining of the posture information of the photographing apparatus when different parts of the target object are respectively located at the same preset positions in the photographing window further comprises:
acquiring third attitude information of the shooting device when the left side of the target object is located at a second preset position in the shooting window;
acquiring fourth attitude information of the shooting device when the right side of the target object is located at a second preset position in the shooting window;
determining the corresponding size of the target object according to the position information of the current position and the posture information of the shooting device when different parts of the target object are respectively located at the same preset positions in the shooting window, including:
and determining the width of the target object according to the third posture information, the fourth posture information and the target distance of the shooting device relative to the target object.
24. The method of claim 21, wherein the first predetermined location for determining the target distance is coincident with or spaced from the second predetermined location.
25. The method of claim 23, further comprising:
and determining the area of the surface of the target object opposite to the shooting device according to the height of the target object and the width of the target object.
26. The method of claim 23, further comprising:
and determining the aspect ratio and/or the zooming multiple of the image shot by the shooting device according to the height of the target object and the width of the target object.
27. The method of any one of claims 1-26, wherein the movable platform comprises a pan-tilt, the camera being mounted on the pan-tilt;
the changing the posture of the photographing apparatus includes:
and controlling the motor of the holder to act so as to adjust the posture of the shooting device.
28. A mapping method for a movable platform carrying a camera, the method comprising:
acquiring the height of the shooting device relative to the ground at the current position;
at the current position, the bottom of a target object is positioned at a preset position in a shooting window by changing the posture of the shooting device, and first posture information of the shooting device is obtained;
and determining a target distance between the movable platform and the target object according to the height of the shooting device relative to the ground at the current position and the first attitude information.
29. The method of claim 28, further comprising:
and displaying the boundary of the shooting window and the preset position on the movable platform or a display device at the control end of the movable platform.
30. The method of claim 29, further comprising:
prompting a user to change the posture of the photographing apparatus so that the bottom of the target object is located at the preset position in the photographing window.
31. The method of claim 29, further comprising:
controlling the movable platform to change the posture of the photographing apparatus such that the bottom of the target object is located at the preset position in the photographing window.
32. The method according to any one of claims 29-31, further comprising:
and according to the determination operation of the user, determining that the bottom of the current target object is located at a preset position in the shooting window.
33. The method of claim 28, further comprising:
selecting the bottom of the target object in the shooting window;
controlling the movable platform to change the posture of the photographing apparatus according to the selected bottom so that the bottom of the target object is located at a preset position in the photographing window.
34. The method of claim 33, wherein selecting the bottom of the target object in the capture window comprises:
displaying the shooting window on the movable platform or a display device at the control end of the movable platform, and identifying the contour line of the target object;
and determining the bottom of the target object in the shooting window according to the selection operation of the user on the bottom contour line.
35. The method of any one of claims 28-34, wherein the obtaining the height of the camera relative to the ground at the current position comprises:
acquiring the height of the shooting device relative to the ground at the current position, which is input by a user; or
And acquiring the height of the shooting device relative to the ground at the current position through a height sensor arranged in the shooting device or a height sensor arranged in the machine body of the movable platform.
36. The method of any one of claims 28-34, wherein the obtaining the height of the camera relative to the ground at the current position comprises:
and acquiring the height of the shooting device relative to the bottom of the target object.
37. The method of claim 36, wherein the obtaining the height of the camera relative to the bottom of the target object comprises:
and determining the height of the shooting device relative to the bottom of the target object according to the attitude information of the shooting device at different distances from the target object and the difference of the different distances.
38. The method of any one of claims 28-37, wherein the first pose information comprises an angle between a line connecting the bottom of the target object and the camera and a horizontal line.
39. The method of any one of claims 28-38, wherein the movable platform comprises a pan-tilt on which the camera is mounted;
the changing the posture of the photographing apparatus includes:
and controlling the motor of the holder to act so as to adjust the posture of the shooting device.
40. The method of any one of claims 28-39, further comprising:
acquiring third attitude information of the shooting device when the left side of the target object is located at a second preset position in the shooting window;
acquiring fourth attitude information of the shooting device when the right side of the target object is located at a second preset position in the shooting window;
and determining the width of the target object according to the third attitude information, the fourth attitude information and the target distance.
41. A movable platform is characterized in that the movable platform can carry a shooting device;
the movable platform comprises a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
at the current position, different parts of a target object are respectively positioned at the same preset positions in a shooting window by changing the posture of the shooting device, and posture information of the shooting device when the different parts of the target object are respectively positioned at the same preset positions in the shooting window is obtained;
and determining the corresponding size of the target object according to the position information of the current position and the posture information of the shooting device when different parts of the target object are respectively positioned at the same preset position in the shooting window.
42. The movable platform of claim 41, wherein the movable platform comprises at least one of an unmanned aerial vehicle, a pan-tilt head, an unmanned vehicle, and a mobile terminal.
43. The movable platform of claim 42,
the movable platform comprises a mobile phone holder, and the shooting device comprises a camera built in the mobile phone; or
The movable platform comprises a camera holder, and the shooting device comprises a camera; or
The movable platform comprises a mobile phone, and the shooting device comprises a camera built in the mobile phone.
44. A movable platform is characterized in that the movable platform can carry a shooting device;
the movable platform comprises a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
acquiring the height of the shooting device relative to the ground at the current position;
at the current position, the bottom of a target object is positioned at a preset position in a shooting window by changing the posture of the shooting device, and first posture information of the shooting device is obtained;
and determining a target distance between the movable platform and the target object according to the height of the shooting device relative to the ground at the current position and the first attitude information.
45. The movable platform of claim 44, wherein the movable platform comprises at least one of an unmanned aerial vehicle, a pan-tilt head, an unmanned vehicle, and a mobile terminal.
46. The movable platform of claim 45,
the movable platform comprises a mobile phone holder, and the shooting device comprises a camera built in the mobile phone; or
The movable platform comprises a camera holder, and the shooting device comprises a camera; or
The movable platform comprises a mobile phone, and the shooting device comprises a camera built in the mobile phone.
47. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement:
a mapping method for a movable platform according to any of claims 1-27; and/or
A method of mapping for a movable platform as claimed in any of claims 28-40.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/097453 WO2021258251A1 (en) | 2020-06-22 | 2020-06-22 | Surveying and mapping method for movable platform, and movable platform and storage medium |
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| CN113167577A true CN113167577A (en) | 2021-07-23 |
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| KR101674298B1 (en) * | 2015-04-30 | 2016-11-08 | 영남대학교 산학협력단 | Method for distance calculation using a camera lens focal length information |
| CN105627995A (en) * | 2016-03-31 | 2016-06-01 | 京东方科技集团股份有限公司 | Camera device, transmission device, distance measuring device, distance measuring system and distance measuring method |
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| CN110083180A (en) * | 2019-05-22 | 2019-08-02 | 深圳市道通智能航空技术有限公司 | Cloud platform control method, device, controlling terminal and aerocraft system |
| CN110332930A (en) * | 2019-07-31 | 2019-10-15 | 小狗电器互联网科技（北京）股份有限公司 | Position determination method, device and equipment |
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| KR102528740B1 (en) * | 2022-12-19 | 2023-05-04 | 서광항업 주식회사 | Systems for monitoring and obtaining 3D spatial information of underground facilities |
| KR102528742B1 (en) * | 2022-12-19 | 2023-05-04 | 서광항업 주식회사 | Apparatus for obtaining 3D spatial information of underground facilities using cell phone lidar and camera |
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