CN102495522A - Method for manufacturing 360-degree air panoramic interactive roam system based on unmanned helicopter aerial shooting - Google Patents
Method for manufacturing 360-degree air panoramic interactive roam system based on unmanned helicopter aerial shooting Download PDFInfo
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- CN102495522A CN102495522A CN2011103928189A CN201110392818A CN102495522A CN 102495522 A CN102495522 A CN 102495522A CN 2011103928189 A CN2011103928189 A CN 2011103928189A CN 201110392818 A CN201110392818 A CN 201110392818A CN 102495522 A CN102495522 A CN 102495522A
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Abstract
The invention relates to a panoramic shooting technology, in particular to a method for manufacturing a 360-degree air panoramic interactive roam system based on unmanned helicopter aerial shooting. The method comprises the following steps of: enabling an unmanned helicopter with a digital camera to fly above a first shooting place; adjusting the height of the unmanned helicopter; keeping the fuselage horizontal; adjusting an included angle between a lens and a horizontal plane; starting to shoot continuously, and keeping the constant-speed horizontal rotation of the fuselage; transferring the unmanned helicopter to the Nth shooting place, and repeating the shooting steps; aiming at each shooting place, synthesizing a panoramic image; and manufacturing an electronic map, and building a link, wherein each link corresponds to each panoramic image. The rotating speed of the fuselage can be automatically selected according to the continuous shooting speed performance of the camera during shooting; a high angle shot angle of the lens can be automatically selected according to an area of a shot object; therefore, simplicity and convenience for operation are realized.
Description
Technical field:
The present invention relates to a kind of pan-shot, further relate to the method for making of the interactive roaming systems of the aerial panorama of a kind of 360 ° of taking photo by plane based on depopulated helicopter.
Background technology:
Traditional panorama system be on ground with camera fixing on tripod; Rotation is taken pictures for 360 ° on a point, in computing machine, utilizes software to carry out post-processed, splicing then, synthetic panorama system; This kind method is based on ground plane angle; The visual angle is unopen, and is consistent with people's visual angle, and significant limitation is arranged.
Summary of the invention:
The present invention proposes by depopulated helicopter and realize taking photo by plane in the air, the method for making of 360 ° of interactive roaming systems of aerial panorama having realized taking photo by plane based on depopulated helicopter.
The method for making of the interactive roaming system of aerial panorama of taking photo by plane based on depopulated helicopter, process comprises:
The first step: the aerial shooting; Detailed process is:
It is overhead that depopulated helicopter carries fly first spot for photography of the digital camera that can take continuously; The adjustment height; Keep standard of fuselage; The angle of adjustment camera lens and surface level; Beginning is taken continuously, keeps the depopulated helicopter fuselage at the uniform velocity to horizontally rotate simultaneously, guarantees that the photo that adjacent continuous is taken has the registration more than 80%;
Aircraft is transferred to N spot for photography, repeat above shooting process;
Second step: distant view photograph is synthetic, and detailed process is:
To each spot for photography, choose the synthetic panorama sketch of photomosaic of some; Make electronic chart, the longitude and latitude of all spots for photography according to map is marked on the electronic chart, and set up link, each links a corresponding Zhang Quanjing figure.
Above-mentioned depopulated helicopter is overhead through the spot for photography that the GPS positioning system arrives appointment.When the unmanned helicopter flight height when being equal to or greater than 10 meters, adopt the optics height-gauge to confirm the shooting height of aircraft, when unmanned helicopter flight height during, adopt ultrasonic measurement system to confirm the shooting height of aircraft less than 10 meters.
Shooting height confirm to follow following rule: when taking area, highly be 80-100 rice less than 0.5 square kilometre; When taking area, highly be 100-140 rice more than or equal to 0.5 square kilometre and when being less than or equal to 1 square kilometre; When taking area, highly be more than 140 meters greater than 1 square kilometre.
The angle of said camera lens and surface level confirms that according to taking area when taking area less than 0.5 square kilometre, angle is 45 degree; When taking area more than or equal to 0.5 square kilometre and when being less than or equal to 1 square kilometre, angle is 30 degree; When taking area greater than 1 square kilometre, angle is 20 degree.
The rotational speed of said depopulated helicopter is confirmed according to following formula: take number/camera and connect bat speed=360 °/depopulated helicopter angular velocity of rotation.
The horizontal attitude of said depopulated helicopter relies on three gyroscope type inertial navigation systems to realize.
The present invention is with respect to the advantage of prior art:
(1) the present invention can regulate the hover height of depopulated helicopter, makes the angle Selection of taking a crane shot free more in the air, thereby can be according to the optical property of camera lens, clapped factor such as object area and select hover height, guarantees high-quality raw frames.
(2) the fuselage rotational speed during the present invention takes can be clapped speed ability according to the company of camera and chosen automatically, and the camera lens angle of taking a crane shot can be chosen according to the reference object area automatically, has realized the simplicity of operation.
(3) the present invention has introduced electronic chart in post-production, to the observer air observation point is provided easily.
Description of drawings:
Fig. 1 is a shooting process synoptic diagram of the present invention.
Fig. 2 is the electronic chart on-link mode (OLM) synoptic diagram that the present invention makes.
Embodiment:
Embodiment 1:
The depopulated helicopter parameter:
The first step: the aerial shooting;
The coverage of first spot for photography is 1200 meters of 800 meters *, uses camera to be the 5DMARK2 of Canon, the EF 20mm f/2.8 USM of Canon camera lens; Aperture 10, shutter 1/640, ISO400; Even clapping speed setting is: 3.9/second; Camera lens is downward-sloping, with the angle of surface level be 30 degree.
Detailed process is:
Flight automated driving system and remote control camera system with depopulated helicopter in the set-up procedure of ground link successfully with land station, handle hand remote control take off or independently take off (utilizing ultrasonic measurement system in the low latitude below 10 meters, the function realization of location highly independently to be taken off) by first then.
Magnetic compass (brand: HMC model: 5843) utilize geomagnetic field horizontal component to make directing group locating tab assembly depopulated helicopter magnetic heading, the heading of depopulated helicopter is made accurately indication; It is overhead that aircraft carries fly first spot for photography of camera; To the hover latitude and longitude coordinates and the altitude information in place of depopulated helicopter passed land station back in real time through the microwave wireless graphic transmission equipment, first handle hand with depopulated helicopter accurately be positioned to take on the longitude and latitude a little.(brand: PCB model: HPA/HPB) (brand: Captron model: P-series) adjustment is highly arrived apart from 150 meters on ground with the optics height-gauge by barometer; By the inertial navigation system that is installed in 3 gyros on the depopulated helicopter (brand: Aeron model: ARN-NS0535), keep standard of fuselage; Begin 3.9/second continuous shooting, keep unmanned aerial vehicle body at the uniform velocity to horizontally rotate with the angular velocity of 46.8 degree/seconds simultaneously, per 360 degree are taken 30 photos at least, repeat to rotate more than 3 times, guarantee that the photo that adjacent continuous is taken has the registration more than 80%.
After accomplishing first spot for photography, because distance second spot for photography is far away, first handles hand operation depopulated helicopter remote control landing, second spot for photography of driving to go to.
The coverage of second spot for photography is 700 meters of 600 meters *, uses camera to be the 5DMARK2 of Canon, the EF 20mm f/2.8 USM of Canon camera lens; Aperture 10, shutter 1/640, ISO400; Even clapping speed setting is: 3.9/second; Camera lens is downward-sloping, with the angle of surface level be 45 degree.
Except that height parameter is 100 meters, other parameter is identical with the parameter of first spot for photography.
The coverage in the 3rd shooting place is 1800 meters of 1000 meters *, uses camera to be the 5D MARK2 of Canon, the EF 20mm f/2.8 USM of Canon camera lens; Aperture 10, shutter 1/640, ISO400; Even clapping speed setting is: 3.9/second; Camera lens is downward-sloping, with the angle of surface level be 20 degree.
Except that height parameter is 250 meters, other parameter is identical with the parameter of first spot for photography.
The coverage of the 4th spot for photography is 900 meters of 900 meters *, uses camera to be the 5DMARK2 of Canon, the EF 20mm f/2.8 USM of Canon camera lens; Aperture 10, shutter 1/800, ISO400; Even clapping speed setting is: 3.9/second; Camera lens is downward-sloping, with the angle of surface level be 30 degree.
Except that height parameter is 120 meters, other parameter is identical with the parameter of first spot for photography.
The coverage of the 5th spot for photography is 1200 meters of 1000 meters *, uses camera to be the 5D MARK2 of Canon, the EF 20mm f/2.8 USM of Canon camera lens; Aperture 10, shutter 1/1000, ISO200; Even clapping speed setting is: 3.9/second; Camera lens is downward-sloping, with the angle of surface level be 20 degree.
Except that height parameter is 150 meters, other parameter is identical with the parameter of first spot for photography.
Second step: post-production
The photo screening
According to the imaging of taking pictures in the air, focus, color, conditional filterings such as registration go out one group of 360 ° of photo (every group of number of pictures is 30) of the most suitable synthetic panorama, from this group photo, choose 12 and are used for synthetic panorama sketch.It is clear that selected photo need form images, and focus is accurate, and rich color is used for synthesizing the panorama sketch of high definition, reduces the adjustment to panorama sketch; Because the center that digital camera is taken a picture imaging is different with the sharpness of edge imaging, every photo has only 20% to 40% part available, therefore requirement whenever two adjacent photos 80% partially overlap will be arranged at least.
Use the synthetic panorama sketch of panorama software.12 photos that first spot for photography is filtered out splice, the panorama sketch of synthetic each spot for photography.Use Photoshop software that synthetic good panorama sketch is carried out adjustment such as brightness, contrast, color range, saturation degree, make the sharpness of panorama sketch higher, color is abundanter, and picture is truer.
Repeat above step, accomplish second and third, the panorama sketch of four, five spots for photography.
Make the panorama file:
Under the KRPanoGUI software environment, import the panorama sketch of each spot for photography, the initial visual angle (being that panorama starts the visual angle that the back shows) of the first spot for photography panorama sketch is set simultaneously; Add and start interface LOGO, be used for display direction angle north arrow, control knob (comprising zoom button, pitching button, rotary knob); Download Google Maps, the mark first count is taken the photograph the place on the corresponding position of Google Maps and actual place, is linked to corresponding panorama file; The panorama sketch image quality is set, rendering effect, background music; Derive the interactive roaming system of panorama.
Repeat above step, make other second and third, four, five panorama files.
With first, second, third and fourth, five panorama files are placed in the same file; Play any panorama file with the IE browser; Click the point of interest that sets on the Google Maps, can browse and the corresponding panorama of this point of interest, realize the interactive roaming of panorama.
Claims (7)
1. the method for making of 360 ° of interactive roaming systems of aerial panorama of taking photo by plane based on depopulated helicopter is characterized in that, comprising:
The first step: the aerial shooting; Detailed process is:
It is overhead that aircraft carries fly first spot for photography of the digital camera that can take continuously; The adjustment height; Keep standard of fuselage; The angle of adjustment camera lens and surface level; Beginning is taken continuously, keeps unmanned aerial vehicle body at the uniform velocity to horizontally rotate simultaneously, guarantees that the photo that adjacent continuous is taken has the registration more than 80%;
Aircraft is transferred to N spot for photography, repeat above shooting process;
Second step: distant view photograph is synthetic, and detailed process is:
To each spot for photography, choose the synthetic panorama sketch of photomosaic of some; Make electronic chart, the longitude and latitude of all spots for photography according to map is marked on the electronic chart, and set up link, each links a corresponding Zhang Quanjing figure.
2. according to the method for making of the interactive roaming systems of the claim 1 aerial panorama of said 360 ° of taking photo by plane based on depopulated helicopter, it is characterized in that: unmanned plane arrives the spot for photography of appointment through the GPS positioning system.
3. according to the method for making of the interactive roaming systems of the claim 1 aerial panorama of said 360 ° of taking photo by plane based on depopulated helicopter; It is characterized in that: when the aircraft flight height when being equal to or greater than 10 meters; Adopt the optics height-gauge to confirm the shooting height of aircraft; When aircraft flight height during, adopt ultrasonic measurement system to confirm the shooting height of aircraft less than 10 meters.
4. according to the method for making of the interactive roaming systems of the claim 1 aerial panorama of said 360 ° of taking photo by plane based on depopulated helicopter, it is characterized in that: shooting height confirm to follow following rule:
When taking area, highly be 80-100 rice less than 0.5 square kilometre; When taking area, highly be 100-140 rice more than or equal to 0.5 square kilometre and when being less than or equal to 1 square kilometre; When taking area, highly be more than 140 meters greater than 1 square kilometre.
5. according to the method for making of the interactive roaming systems of the claim 1 aerial panorama of said 360 ° of taking photo by plane based on depopulated helicopter; It is characterized in that: the angle of said camera lens and surface level is confirmed according to taking area; When taking area less than 0.5 square kilometre, angle is 45 degree; When taking area more than or equal to 0.5 square kilometre and when being less than or equal to 1 square kilometre, angle is 30 degree; When taking area greater than 1 square kilometre, angle is 20 degree.
6. according to the method for making of the interactive roaming systems of the claim 1 aerial panorama of said 360 ° of taking photo by plane based on depopulated helicopter, it is characterized in that: the rotational speed of said unmanned plane is confirmed according to following formula: take number/camera and connect bat speed=360 °/depopulated helicopter angular velocity of rotation.
7. according to the method for making of the interactive roaming systems of the claim 1 aerial panorama of said 360 ° of taking photo by plane based on depopulated helicopter, it is characterized in that: the horizontal attitude of said unmanned plane relies on three gyroscope type inertial navigation systems to realize.
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| CN103149788A (en) * | 2013-03-22 | 2013-06-12 | 天津曙光敬业科技有限公司 | Air 360-degree distant view photograph shooting device and method |
| CN104601894A (en) * | 2015-02-06 | 2015-05-06 | 武汉大学 | 360 degrees panoramic shooting unit and method |
| CN105022405A (en) * | 2015-07-16 | 2015-11-04 | 杨珊珊 | Street view map production method, control server, unmanned aerial vehicle and production device |
| CN105700547A (en) * | 2016-01-16 | 2016-06-22 | 深圳先进技术研究院 | Aerial stereoscopic video streetscape system based on a navigation airship and an implement method |
| CN105959576A (en) * | 2016-07-13 | 2016-09-21 | 北京博瑞爱飞科技发展有限公司 | Method and apparatus for shooting panorama by unmanned aerial vehicle |
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| CN106095774A (en) * | 2016-05-25 | 2016-11-09 | 深圳市创驰蓝天科技发展有限公司 | A kind of unmanned plane image panorama methods of exhibiting |
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Application publication date: 20120613 |