CN109211185A - A kind of flight equipment, the method and device for obtaining location information - Google Patents
A kind of flight equipment, the method and device for obtaining location information Download PDFInfo
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- CN109211185A CN109211185A CN201710523489.4A CN201710523489A CN109211185A CN 109211185 A CN109211185 A CN 109211185A CN 201710523489 A CN201710523489 A CN 201710523489A CN 109211185 A CN109211185 A CN 109211185A
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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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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- 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
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
Abstract
This application involves technical field of image processing more particularly to a kind of flight equipment, the method and device of location information is obtained, existing in the prior art can not accurately obtain the location of unmanned plane information under some special application scenarios to solve the problems, such as.The application provides a kind of method for obtaining location information, is applied to flight equipment, comprising: the image shot by binocular camera is obtained, and, by the distance away the ground value of the flight equipment of height sensor acquisition；If it is determined that the distance away the ground value meets for characterizing the preset condition that distance away the ground value is exceptional value, then the image depth values determined the image shot by the binocular camera replace with the distance away the ground value of flight equipment；According to the image of binocular camera shooting, replaced distance away the ground value, the displacement variable of the flight equipment is calculated.
Description
Technical field
This application involves technical field of image processing more particularly to a kind of flight equipment, obtain location information method and
Device.
Background technique
Currently, unmanned plane is widely used in civilian, commercial and military field.In civil field, more and more photography love
Good person is taken photo by plane using unmanned plane.In commercial kitchen area, except carry picture pick-up device to every competitive sports carry out tracking take photo by plane with
Outside, unmanned plane has entered logistic industry, and cargo can be sent to manpower and dispense more difficult, slower remote districts.Therefore, unmanned plane
The range that has a wide range of applications and vast market prospect.
The functions such as cargo are taken photo by plane or dispense to realize, " spot hover " is one of essential function of unmanned plane.It is so-called
" spot hover " function, as unmanned plane can steadily hover the function of a certain position in the sky.And realize " spot hover "
The committed step of technology be: unmanned plane, which can be accurately positioned, to be come from the location of spatially information.The position of acquisition
Confidence breath is controlled unmanned plane by the regulative mode of negative-feedback by control system and is steadily hanged as the control system built in unmanned plane
It is parked in a certain coordinate points.Currently, being broadly divided into global positioning system (Global for the positioning method of unmanned plane
Positioning System, GPS) and without GPS two major classes.Wherein, the former is commonly utilized in the stronger environment of GPS signal
In, in outdoor more spacious environment, unmanned plane can obtain locating horizontal position information and distance away the ground by GPS
Value.And the latter is commonly utilized in the weaker environment of GPS signal, in indoor environment, unmanned plane is sensed by ultrasonic height
Device and general camera carry out vision positioning.Distance away the ground value is measured using ultrasonic height sensors, utilizes general camera
Image when flight is shot, processing analysis is carried out based on image of the optical flow algorithm to shooting, obtains horizontal position information.
However, by means of ultrasonic height sensors acquisition distance away the ground value, there is following in this vision positioning mode
Defect: first is that, it, can not when unmanned plane present position exceeds supersonic finding range since ultrasonic distance measurement has scope limitation
Obtain out the distance away the ground value of unmanned plane；Second is that due to being likely to occur measurement over the ground in some special environment such as meadow
The disorderly and unsystematic situation of height value, causes ultrasonic distance measurement to be failed.It can be seen that the scope of application by the way of ultrasonic distance measurement
It is limited, it is difficult to be accurately obtained the location of unmanned plane information under certain special scenes, to can not be pinpointed
Hovering.
To sum up, there is unmanned plane institute can not be accurately obtained under some special applications scenes for existing vision positioning mode
The problem of location information at place.
Summary of the invention
A kind of flight equipment of the embodiment of the present application, the method and device for obtaining location information, to solve in the prior art
There are restricted applications, and asking for the location of unmanned plane information can not be accurately obtained under some special application scenarios
Topic.
The embodiment of the present application provides a kind of flight equipment, including binocular camera, height sensor, vision processor, wherein
Binocular camera is sent to the vision processor for shooting image, and by the image of shooting；
Height sensor is sent for acquiring the distance away the ground value of the flight equipment, and by the distance away the ground value of acquisition
To the vision processor；
Vision processor, for if it is determined that it is the pre- of exceptional value that the distance away the ground value, which meets for characterizing distance away the ground value,
If condition, then the image depth values determined the image shot by the binocular camera replace with the high over the ground of flight equipment
Angle value, and according to the image of binocular camera shooting, replaced distance away the ground value, the displacement for calculating the flight equipment becomes
Change amount.
Optionally, described for characterize the preset condition that distance away the ground value is exceptional value to be any one of the following conditions:
The height sensor is in the distance away the ground acquired in nearest continuous first preset times apart from current time
The following conditions are not satisfied in value: the variable quantity of distance away the ground value is less than default variable quantity, distance away the ground value is presented lasting rise and becomes
The trend continued to decline is presented in gesture, distance away the ground value；
The distance away the ground value of the height sensor current time acquisition exceeds the detection range of the height sensor；
The height sensor is in the distance away the ground acquired in nearest continuous second preset times apart from current time
Value is respectively less than corresponding image depth values.
Optionally, the equipment further include: photosensitive sensor and infrared light compensating lamp；Wherein,
Photosensitive sensor, for acquiring the environment beche-de-mer without spike of the light intensity for characterizing the flight equipment local environment
Number, and the environmental light parameter of acquisition is sent to the vision processor；
The vision processor, is also used to:
Detect whether the environmental light parameter is greater than given threshold；
If more than be then used to indicate enabling cutoff filter shooting image to binocular camera transmission first refers to
It enables；
If being not more than, is sent to the binocular camera and be used to indicate the second of enabling full impregnated spectral filter shooting image
Instruction；
The binocular camera, is specifically used for:
If receiving first instruction, cutoff filter shooting image is enabled；
If receive it is described second instruction, enable full impregnated spectral filter shooting image, and start infrared light compensating lamp into
The infrared light filling of row.
Optionally, the vision processor is specifically used for:
It will be spliced by the binocular camera in the image that synchronization is shot；
It determines the image that current time is spliced into and specifies the location of pixels of characteristic point in the image that previous moment is spliced into
Variable quantity；
Based on the location of pixels variable quantity, replaced distance away the ground value, the flight equipment is calculated at current time
Relative to the displacement variable of previous moment in the horizontal plane.
The embodiment of the present application also provides a kind of method for obtaining location information, is applied to flight equipment, this method comprises:
The image shot by binocular camera is obtained, and, by the distance away the ground value of the flight equipment of height sensor acquisition；
If it is determined that the distance away the ground value meets for characterizing the preset condition that distance away the ground value is exceptional value, then it will be by institute
The image depth values that the image of binocular camera shooting is determined are stated, the distance away the ground value of flight equipment is replaced with；
According to the image of binocular camera shooting, replaced distance away the ground value, the displacement of the flight equipment is calculated
Variable quantity.
Optionally, described for characterize the preset condition that distance away the ground value is exceptional value to be any one of the following conditions:
It is not satisfied in the distance away the ground value acquired in nearest continuous first preset times apart from current time following
Condition: the variable quantity of distance away the ground value is less than default variable quantity, lasting ascendant trend is presented in distance away the ground value, distance away the ground value is in
The trend now continued to decline；
Exceed the detection range of the height sensor in the distance away the ground value of current time acquisition；
It is respectively less than corresponding in the distance away the ground value acquired in nearest continuous second preset times apart from current time
Image depth values.
Optionally, it is described obtain the image shot by binocular camera before further include:
Acquire the environmental light parameter for characterizing the light intensity of the flight equipment local environment；
Detect whether the environmental light parameter is greater than given threshold；
If more than then indicating that the binocular camera enables cutoff filter shooting image；
If being not more than, indicate that the binocular camera enables full impregnated spectral filter shooting image, and start infrared light filling.
Optionally, according to the image of binocular camera shooting, replaced distance away the ground value, the flight equipment is calculated
Displacement variable, comprising:
It will be spliced by the binocular camera in the image that synchronization is shot；
It determines the image that current time is spliced into and specifies the location of pixels of characteristic point in the image that previous moment is spliced into
Variable quantity；
Based on the location of pixels variable quantity, replaced distance away the ground value, the flight equipment is calculated at current time
Relative to the displacement variable of previous moment in the horizontal plane.
The embodiment of the present application also provides a kind of device for obtaining location information, is applied to flight equipment, which includes:
Obtain module, for obtains by binocular camera shoot image, and, by height sensor acquisition flight equipment
Distance away the ground value；
First processing module, for if it is determined that it is exceptional value that the distance away the ground value, which meets for characterizing distance away the ground value,
Preset condition, the then image depth values determined the image shot by the binocular camera replace with flight equipment over the ground
Height value；
Computing module, image, replaced distance away the ground value for being shot according to the binocular camera calculate described fly
The displacement variable of row equipment.
It optionally, is following item for characterizing the preset condition that distance away the ground value is exceptional value in the first processing module
Any one of part:
It is not satisfied in the distance away the ground value acquired in nearest continuous first preset times apart from current time following
Condition: the variable quantity of distance away the ground value is less than default variable quantity, lasting ascendant trend is presented in distance away the ground value, distance away the ground value is in
The trend now continued to decline；
Exceed the detection range of the height sensor in the distance away the ground value of current time acquisition；
It is respectively less than corresponding in the distance away the ground value acquired in nearest continuous second preset times apart from current time
Image depth values.
Optionally, described device further includes Second processing module, is specifically used for:
Acquire the environmental light parameter for characterizing the light intensity of the flight equipment local environment；
Detect whether the environmental light parameter is greater than given threshold；
If more than then indicating that the binocular camera enables cutoff filter shooting image；
If being not more than, indicate that the binocular camera enables full impregnated spectral filter shooting image, and start infrared light filling.
Optionally, the computing module is specifically used for:
It will be spliced by the binocular camera in the image that synchronization is shot；
It determines the image that current time is spliced into and specifies the location of pixels of characteristic point in the image that previous moment is spliced into
Variable quantity；
Based on the location of pixels variable quantity, replaced distance away the ground value, the flight equipment is calculated at current time
Relative to the displacement variable of previous moment in the horizontal plane.
The embodiment of the present application also provides a kind of computer installation, and the computer installation includes processor and memory, institute
The step of method for obtaining location information is realized when stating processor for executing the computer program instructions stored in memory.
The embodiment of the present application also provides a kind of computer readable storage medium, is stored thereon with meter used in computer installation
Calculation machine program instruction realizes the step for obtaining the method for location information when the computer program instructions are executed by computer installation
Suddenly.
By obtaining the image shot by binocular camera, and the flight acquired by height sensor in the embodiment of the present application
The distance away the ground value of equipment, it is subsequent if it is determined that the collected distance away the ground value of height sensor meets for characterizing distance away the ground value
For exceptional value preset condition it, the image depth values that the image shot by binocular camera is determined can be replaced with into flight and set
Standby distance away the ground value, and then based on replaced distance away the ground value and the image shot by binocular camera, it calculates flight and sets
Standby displacement variable.It can be seen that abnormal distance away the ground value can be replaced in the application by image depth values, and then seek
Displacement variable in the horizontal plane, since the accuracy that geographical environment determines image depth values has little effect, so
Image depth values can be adapted for complicated geographical environment, such as the meadow etc. of landform bumps variation.Therefore, the embodiment of the present application
The scope of application it is wider, the location information of flight equipment can also be accurately obtained under special application scenarios.
In addition, the configurable double optical-filter switchers of binocular camera in the application, when photosensitive sensor detects flight equipment
When the light of local environment is stronger, vision processor can indicate that binocular camera enables cutoff filter and shoots image,
When photosensitive sensor detect flight equipment local environment light it is weaker when, vision processor can indicate binocular camera enable
Full impregnated spectral filter carries out infrared light filling to shoot image and start infrared light compensating lamp, to make binocular camera no matter in light
In stronger still weaker environment, clearly picture can be shot.
Detailed description of the invention
Fig. 1 is the networking schematic diagram for the flight equipment that the embodiment of the present application one provides；
The location of pixels of characteristic point is specified to change schematic diagram in the before and after frames image that Fig. 2 provides for the embodiment of the present application one；
Fig. 3 is the geometric representation for the binocular ranging that the embodiment of the present application one provides；
Transition diagram of the Fig. 4 between the pixel unit provided of the embodiment of the present application one and length unit；
Fig. 5 is the method flow diagram for the acquisition location information that the embodiment of the present application two provides；
Fig. 6 is the structural schematic diagram of the device for the acquisition location information that the embodiment of the present application three provides；
Fig. 7 is the structural schematic diagram for the computer installation that the embodiment of the present application four provides.
Specific embodiment
By obtaining the image shot by binocular camera, and the flight acquired by height sensor in the embodiment of the present application
The distance away the ground value of equipment, it is subsequent if it is determined that the collected distance away the ground value of height sensor meets for characterizing distance away the ground value
For exceptional value preset condition it, the image depth values that the image shot by binocular camera is determined can be replaced with into flight and set
Standby distance away the ground value, and then based on replaced distance away the ground value and the image shot by binocular camera, it calculates flight and sets
Standby displacement variable.It can be seen that abnormal distance away the ground value can be replaced in the application by image depth values, and then seek
Displacement variable in the horizontal plane, since the accuracy that geographical environment determines image depth values has little effect, so
Image depth values can be adapted for complicated geographical environment, such as the meadow etc. of landform bumps variation.Therefore, the embodiment of the present application
The scope of application it is wider, the location information of flight equipment can also be accurately obtained under special application scenarios.
In addition, the configurable double optical-filter switchers of binocular camera in the application, when photosensitive sensor detects flight equipment
When the light of local environment is stronger, vision processor can indicate that binocular camera enables cutoff filter and shoots image,
When photosensitive sensor detect flight equipment local environment light it is weaker when, vision processor can indicate binocular camera enable
Full impregnated spectral filter carries out infrared light filling to shoot image and start infrared light compensating lamp, to make binocular camera no matter in light
In stronger still weaker environment, clearly picture can be shot.
The embodiment of the present application is described in further detail with reference to the accompanying drawings of the specification.
Embodiment one
As shown in Figure 1, the networking schematic diagram of the flight equipment provided for the embodiment of the present application one, the flight equipment for example may be used
To be unmanned plane.
Binocular camera, height sensor, vision processor are configured in the flight equipment, when for flight equipment flight
Location information be acquired and monitor.It wherein, include the first camera for being respectively placed in flight equipment two sides in binocular camera
And second camera, wherein every camera parameter of two cameras is all the same.Height sensor can be ultrasonic height sensors,
It can also be infrared ray height sensor etc..
Specifically, binocular camera can be used for shooting image, and the image of shooting is sent to vision processor in real time.It is high
Degree sensor can be used for acquiring the distance away the ground value of flight equipment in real time, and the distance away the ground value of acquisition is sent at vision
Manage device.Wherein, distance away the ground value described here is understood to be in relation to the height value of topographical surface feature.The topographical surface feature example
Atural object immediately below flight equipment in this way, such as building, ground.For example, when flight equipment is in flat above the ground flight
When, the distance away the ground value is the height value relative to ground, described when flight equipment flight above a certain building
Distance away the ground value is the height value relative to plane where top of building.
Further, vision processor is in the image for receiving binocular camera shooting and pair of height sensor acquisition
After ground height value, the image that can be shot according to binocular camera determines image depth values；Also, it is adopted for height sensor
The distance away the ground value of collection, it can be determined that whether the distance away the ground value meets for characterizing the default item that distance away the ground value is exceptional value
Part, however, it is determined that the distance away the ground value meets for characterizing the preset condition that distance away the ground value is exceptional value, then will be by the binocular
The image depth values that the image of camera shooting is determined replace with the distance away the ground value of flight equipment, and then based on replaced
Distance away the ground value and the image of binocular camera shooting, calculate the displacement variable of flight equipment.
Wherein, described for characterize the preset condition that distance away the ground value is exceptional value can be in following (1)-(3) condition
It is any:
(1) height sensor is in the distance away the ground value acquired in nearest continuous first preset times apart from current time
The following conditions are not satisfied: the variable quantity of distance away the ground value is less than default variable quantity, lasting ascendant trend is presented in distance away the ground value,
The trend continued to decline is presented in distance away the ground value.
Here, the variable quantity of distance away the ground value, which is less than default variable quantity, can be considered that distance away the ground value is in steady constant shape
State.Also, when the lasting trend risen or continue to decline is presented in distance away the ground value, the change of the adjacent distance away the ground value measured twice
Change amount is also not greater than setting change threshold.That is, when distance away the ground value be in it is steady it is constant, steady rise, be steady under
Drop these three states it is any when, can be considered distance away the ground value be normal value, conversely, as exceptional value.
(2) the distance away the ground value of height sensor current time acquisition exceeds the detection range of height sensor；
Here, when height sensor exceeds detection range, an error identification can be shown, and the error identification is sent
To vision processor, to indicate that the distance away the ground value of acquisition exceeds the detection range of height sensor.
(3) height sensor is in the distance away the ground value acquired in nearest continuous second preset times apart from current time
Respectively less than corresponding image depth values.
Certainly, when it is implemented, can also set according to actual needs for characterizing distance away the ground value as the pre- of exceptional value
If condition, it is suitable for the embodiment of the present application.
In addition, if above-mentioned condition is not satisfied by the distance away the ground value that height sensor acquires, it is determined that the distance away the ground
Value be normal value, it is subsequent can normal use, i.e., using height sensor acquisition distance away the ground value and binocular camera shooting
Image calculates the displacement variable of flight equipment, wherein the process of displacement variable is calculated, after based on replacement
Distance away the ground value and the image of binocular camera shooting calculate the process of the displacement variable of flight equipment, it is no longer superfluous here
It states.
Wherein, the image shot based on replaced distance away the ground value and binocular camera, calculates flight equipment
Displacement variable specifically includes:
It will be spliced by binocular camera in the image that synchronization is shot；
It determines the image that current time is spliced into and specifies the location of pixels of characteristic point in the image that previous moment is spliced into
Variable quantity；
Based on the location of pixels variable quantity, replaced distance away the ground value, the flight equipment is calculated at current time
Relative to the displacement variable of previous moment in the horizontal plane.
Here, specific characteristic point is the feature that binocular camera shares in two images that synchronization is shot
Point.
In the embodiment of the present application, it is contemplated that flight equipment mobile fast speed in flight, if based on single in binocular camera
The image of a camera shooting specifies the location of pixels variation of characteristic point to analyze in the camera before and after frames image, it is likely that phase occur
The case where between adjacent two single images without sufficient common region, causes analysis result not accurate enough.Therefore, the application is implemented
Binocular camera is spliced in two images that synchronization is shot in example, spliced image can be made to be able to reflect out more
Large-scale environmental information, in this way, can have after splicing, between spliced sequential frame image biggish common
Region, it is subsequent in the location of pixels variation for analyzing the specific characteristic point between spliced before and after frames image, it can make to analyze
As a result more accurate.
Specifically, splicing is carried out in two images that synchronization is shot to binocular camera and is broadly divided into three big steps: figure
As pretreatment, image registration, image co-registration and edge smoothing.Wherein, image preprocessing mainly carries out geometric distortion school to image
Just with the inhibition of noise spot etc., make between two images of shooting that there is no apparent geometric distortions；Image registration is mainly to bat
The match information in two images taken the photograph extracts, and finds optimal matching in the information extracted, completes between image
Alignment；Image co-registration refers to after completing images match, sutures to image, and is smoothed to the boundary of suture,
The boundary of suture is allowed to generate the effect of nature transition.Here, existing procedure can be found in for the detailed process of image mosaic, here
No longer repeat one by one.
To binocular camera after two images that synchronization is shot splice, if TnThe image that moment is spliced into
For nth frame, Tn+1The image that moment is spliced into is N+1 frame.It is possible to any from the common region of before and after frames image
Choose two images in share characteristic point, as specific characteristic point, calculate the specific characteristic point before and after frames image (such as
Nth frame image and N+1 frame image) in location of pixels variable quantity.Here, location of pixels variable quantity is for characterizing specific characteristic
Change in displacement of the point from previous frame image to a later frame image in the direction indicated.
For example, referring to specifying the location of pixels of characteristic point to change schematic diagram in front of and after frames image shown in Fig. 2, it is assumed that scheme
Shown in X-Y coordinate as reference frame, using P point as the specific characteristic point chosen, the P point pair in nth frame image
The pixel coordinate P answered1(x1, y1) indicate, the corresponding pixel coordinate P of P point in N+1 frame image2(x2, y2) indicate, by
This can be seen that location of pixels of the P point between before and after frames image changes are as follows: location of pixels variable quantity △ x=in the X direction
x2-x1, location of pixels variable quantity △ y=y in the Y direction2-y1。
Certainly, in the specific implementation, when flight equipment is in flight, movement speed is slower, be unlikely to occur adjacent two individual
Between image without sufficient common region in the case where, two images binocular camera can not also being shot in synchronization
(being represented by the first image and the second image) carries out splicing, that is, directly determines the first image of current time (or the second figure
Picture) with the first image of previous moment (or second image) in specify characteristic point location of pixels variable quantity, be equally applicable to this Shen
It please embodiment.
Wherein, vision processor can determine image depth values according to following manner:
Determine the received parallax by binocular camera between two images that synchronization is shot；
According to the distance between the optical center of two cameras in determining parallax, camera focus and binocular camera, determine
Image depth values.
In the following, first by taking the geometric representation of binocular ranging shown in Fig. 3 as an example, it is simple to introduce lower binocular range measurement principle.
It is assumed that M is the point in space, M1 and M2 are that point M is being controlled as the imaging point in plane, and f is focal length, and OR and OT divide
Be not the optical center of two cameras in binocular camera, and the optical axis of two cameras be it is parallel, XR and XT are that two imaging points exist
Control two distances as range image left edge in plane.Wherein, in binocular camera two cameras the distance between optical center
Two are being controlled as the position difference of the imaging in plane is the corresponding parallax d=XR-XT of point M, point M distance pair for T, point M
The distance of plane is image depth values Z where the optical center of two cameras in mesh camera.It can further be pushed away using triangulation
The relationship of export, parallax d and image depth values Z can be expressed as
When it is implemented, in combination with above-mentioned binocular range measurement principle, it, both can be with base for two images of synchronization shooting
In Feature Points Matching algorithm, the image depth values between the characteristic point shared in two images are calculated, as picture depth
Value.Certainly, when it is implemented, region unit first can also be divided into two images that synchronization is shot, it is based further on block
Matching algorithm calculates the image depth values between region unit share in two images and with image texture, as
Image depth values.Wherein, Feature Points Matching algorithm and block matching algorithm can be found in existing procedure, no longer repeat one by one here.
Specifically, when calculating the displacement variable of flight equipment, since location of pixels variable quantity is using pixel as dimension
Value, and the displacement variable of the flight equipment finally obtained in the horizontal plane is that therefore can refer to Fig. 4 using length as the value of dimension
Shown in transition diagram between pixel unit and length unit, obtain flight equipment at current time relative to previous moment
The displacement variable DX moved in X direction in the horizontal plane:Correspondingly, flight equipment is at current time
Displacement variable DY relative to previous moment being moved along Y-direction in the horizontal plane:Wherein, dx and dy
It is the length and width of the physical size of each pixel on the sensitive chip of binocular camera respectively, △ x and △ y are current time respectively
For the image that the image and previous moment being spliced into are spliced into the X direction with the location of pixels variable quantity in Y-direction, D is current
The distance away the ground value at moment, wherein if the collected distance away the ground value of height sensor is exceptional value, by the figure at current time
As depth value is as distance away the ground value D.
Further, after calculating the displacement variable of flight equipment, flight equipment can be used negative vision processor
The method of feedback regulation realizes spot hover, and specific adjustment process the application is without limitation.
In addition, the requirement in existing scheme using general camera shooting image to light is more stringent.This is undoubtedly improved
Requirement to camera and environment causes the prior art scope of application more limited.To solve this problem, inventors have found that in light
The weaker place of line possibly can not shoot clearly image, and image texture characteristic can not identify, to can not accurately calculate
The location of pixels variation and image depth values of certain characteristic points between the sequential frame image of shooting, therefore can not accurately obtain flight
The displacement variable of equipment.First camera and second camera are equal in the binocular camera in flight equipment that the embodiment of the present application proposes
Using infrared integrated camera, and built-in double optical-filter switchers (IR-CUT), for switching to infrared section when light is stronger
Only optical filter switches to full impregnated spectral filter, and carry out infrared light filling when light is weaker so that binocular camera no matter
In the stronger still weaker environment of light, clearly picture can be shot.
It preferably, also include photosensitive sensor in the flight equipment, for acquiring for characterizing ring locating for flight equipment
The environmental light parameter of the light intensity in border, and the environmental light parameter of acquisition is sent to vision processor.Wherein, winged for characterizing
The environmental light parameter of the light intensity of row equipment local environment can be illuminance, brightness etc..
Further, vision processor can be based on the environmental light parameter received, to control the imaging mould of binocular camera
Formula.Specifically, vision processor can detecte whether environmental light parameter is greater than given threshold, if more than then sending out to binocular camera
Send the first instruction for being used to indicate and enabling cutoff filter shooting image；If being not more than, it is used for binocular camera transmission
Indicate that enabling the second of full impregnated spectral filter shooting image instructs.If binocular camera receives above-mentioned first instruction, enable
Cutoff filter shoots image；If receiving above-mentioned second instruction, full impregnated spectral filter shooting image is enabled, and open
Dynamic infrared light compensating lamp carries out infrared light filling.
The flight equipment in conjunction with described in above-described embodiment, the application also provide a kind of method for obtaining location information, answer
For in flight equipment, location information when for flight equipment flight to be acquired and monitors.Its specific implementation process can
Referring to the content recorded in embodiment two.
Embodiment two
As shown in figure 5, the method flow diagram of the acquisition location information provided for the embodiment of the present application two, including following step
It is rapid:
Step 501: the image shot by binocular camera is obtained, and, by pair of the flight equipment of height sensor acquisition
Ground height value.
Here, first camera and second camera are all made of infrared integrated camera, and built-in double optical filters in binocular camera
Switch (IR-CUT), for switching to cutoff filter, when light is weaker, switching to full impregnated when light is stronger
Spectral filter, and infrared light filling is carried out, so that binocular camera no matter in the stronger or weaker environment of light, can be shot
Clearly picture out.
In the specific implementation, it is acquired according to setting time interval for characterizing locating for flight equipment using photosensitive sensor
The environmental light parameter of the light intensity of environment, and further whether detection environmental light parameter is greater than given threshold, if more than then referring to
Show that binocular camera enables cutoff filter shooting image；If being not more than, indicate that binocular camera enables full impregnated spectral filtering
Piece shoots image, and starts the infrared light compensating lamp in flight equipment and carry out infrared light filling.
Step 502: if it is determined that distance away the ground value meets for characterizing the preset condition that distance away the ground value is exceptional value, then will
The image depth values determined by the image that binocular camera is shot, replace with the distance away the ground value of flight equipment.
Wherein, it is any one of the following conditions for characterizing the preset condition that distance away the ground value is exceptional value:
It is not satisfied in the distance away the ground value acquired in nearest continuous first preset times apart from current time following
Condition: the variable quantity of distance away the ground value is less than default variable quantity, lasting ascendant trend is presented in distance away the ground value, distance away the ground value is in
The trend now continued to decline；
Exceed the detection range of height sensor in the distance away the ground value of current time acquisition；
It is respectively less than corresponding in the distance away the ground value acquired in nearest continuous second preset times apart from current time
Image depth values.
Step 503: according to the image of binocular camera shooting, replaced distance away the ground value, calculating the displacement of flight equipment
Variable quantity.
In specific implementation, will can be spliced first by binocular camera in the image that synchronization is shot, and then really
Determine the image that current time is spliced into and specifies the location of pixels variable quantity of characteristic point in the image that previous moment is spliced into, it
Afterwards, it is based on location of pixels variable quantity, replaced distance away the ground value, calculates flight equipment at current time relative to previous moment
Displacement variable in the horizontal plane.
Above-mentioned determining image depth values, the change in displacement of location of pixels variable quantity and calculating flight equipment in the horizontal plane
The specific implementation process of amount can refer to the content recorded in embodiment one, no longer repeat one by one here.
Based on the same inventive concept, it is additionally provided in the embodiment of the present application a kind of corresponding with the method for location information is obtained
The device of location information is obtained, the method for location information is obtained in the principle and the embodiment of the present application solved the problems, such as due to the device
It is similar, therefore the implementation of the device may refer to the implementation of method, overlaps will not be repeated.
Embodiment three
As shown in fig. 6, the structural schematic diagram of the device for obtaining location information provided for the embodiment of the present application three, comprising:
Obtain module 61, for obtains by binocular camera shoot image, and, by height sensor acquisition flight set
Standby distance away the ground value；
First processing module 62, for if it is determined that it is exceptional value that the distance away the ground value, which meets for characterizing distance away the ground value,
Preset condition, then the image depth values determined the image shot by the binocular camera replace with pair of flight equipment
Ground height value；
Computing module 63, image, replaced distance away the ground value for being shot according to the binocular camera, described in calculating
The displacement variable of flight equipment.
It optionally, is following for characterizing the preset condition that distance away the ground value is exceptional value in the first processing module 62
Any one of condition:
It is not satisfied in the distance away the ground value acquired in nearest continuous first preset times apart from current time following
Condition: the variable quantity of distance away the ground value is less than default variable quantity, lasting ascendant trend is presented in distance away the ground value, distance away the ground value is in
The trend now continued to decline；
Exceed the detection range of the height sensor in the distance away the ground value of current time acquisition；
It is respectively less than corresponding in the distance away the ground value acquired in nearest continuous second preset times apart from current time
Image depth values.
Optionally, described device further includes Second processing module 64, is specifically used for:
Acquire the environmental light parameter for characterizing the light intensity of the flight equipment local environment；
Detect whether the environmental light parameter is greater than given threshold；
If more than then indicating that the binocular camera enables cutoff filter shooting image；
If being not more than, indicate that the binocular camera enables full impregnated spectral filter shooting image, and start infrared light filling.
Optionally, the computing module 63 is specifically used for:
It will be spliced by the binocular camera in the image that synchronization is shot；
It determines the image that current time is spliced into and specifies the location of pixels of characteristic point in the image that previous moment is spliced into
Variable quantity；
Based on the location of pixels variable quantity, replaced distance away the ground value, the flight equipment is calculated at current time
Relative to the displacement variable of previous moment in the horizontal plane.
Example IV
The embodiment of the present application four additionally provides a kind of computer installation, which is specifically as follows Desktop Computing
Machine, portable computer, smart phone, tablet computer, personal digital assistant (Personal Digital Assistant,
PDA) etc..As shown in fig. 7, the computer installation may include central processing unit (Center Processing Unit, CPU)
701, memory 702, input equipment 703, output equipment 704 etc., input equipment may include keyboard, mouse, touch screen etc., defeated
Equipment may include display equipment out, such as liquid crystal display (Liquid Crystal Display, LCD), cathode-ray tube
(Cathode Ray Tube, CRT) etc..
Memory may include read-only memory (ROM) and random access memory (RAM), and provide storage to processor
The computer program instructions and data stored in device.In the embodiment of the present application, memory, which can be used for storing, obtains position letter
The computer program instructions of the method for breath.
The computer program instructions that processor is used to that memory to be called to store, and held according to the computer program instructions of acquisition
Row: obtaining the image shot by binocular camera, and, by the distance away the ground value of the flight equipment of height sensor acquisition；If really
The fixed distance away the ground value meets for characterizing the preset condition that distance away the ground value is exceptional value, then will be clapped by the binocular camera
The image depth values that the image taken the photograph is determined replace with the distance away the ground value of flight equipment；According to binocular camera shooting
Image, replaced distance away the ground value, calculate the displacement variable of the flight equipment.
Embodiment five
The embodiment of the present application five provides a kind of computer readable storage medium, for being stored as above-mentioned computer installation institute
Computer program instructions, it includes the programs of the method for executing above-mentioned acquisition location information.
The computer readable storage medium can be any usable medium that computer can access or data storage is set
It is standby, including but not limited to magnetic storage (such as floppy disk, hard disk, tape, magneto-optic disk (MO) etc.), optical memory (such as CD,
DVD, BD, HVD etc.) and semiconductor memory (such as ROM, EPROM, EEPROM, nonvolatile memory (NAND
FLASH), solid state hard disk (SSD)) etc..
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although
The application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of flight equipment, which is characterized in that including binocular camera, height sensor, vision processor, wherein
Binocular camera is sent to the vision processor for shooting image, and by the image of shooting；
Height sensor is sent to institute for acquiring the distance away the ground value of the flight equipment, and by the distance away the ground value of acquisition
State vision processor；
Vision processor, for if it is determined that the distance away the ground value meets for characterizing the default item that distance away the ground value is exceptional value
Part, the then image depth values determined the image shot by the binocular camera replace with the distance away the ground value of flight equipment,
And according to the image of binocular camera shooting, replaced distance away the ground value, the displacement variable of the flight equipment is calculated.
2. equipment as described in claim 1, which is characterized in that described for characterizing the default item that distance away the ground value is exceptional value
Part is any one of the following conditions:
The height sensor is equal in the distance away the ground value acquired in nearest continuous first preset times apart from current time
Be unsatisfactory for the following conditions: the variable quantity of distance away the ground value is less than default variable quantity, lasting ascendant trend is presented in distance away the ground value, right
The trend continued to decline is presented in ground height value；
The distance away the ground value of the height sensor current time acquisition exceeds the detection range of the height sensor；
The height sensor is equal in the distance away the ground value acquired in nearest continuous second preset times apart from current time
Less than corresponding image depth values.
3. equipment as described in claim 1, which is characterized in that the equipment further include: photosensitive sensor and infrared light filling
Lamp；Wherein,
Photosensitive sensor, for acquiring the environmental light parameter of the light intensity for characterizing the flight equipment local environment, and
The environmental light parameter of acquisition is sent to the vision processor；
The vision processor, is also used to:
Detect whether the environmental light parameter is greater than given threshold；
If more than be then used to indicate enabling cutoff filter shooting image to binocular camera transmission first instructs；
If being not more than, the second finger for being used to indicate and enabling full impregnated spectral filter shooting image is sent to the binocular camera
It enables；
The binocular camera, is specifically used for:
If receiving first instruction, cutoff filter shooting image is enabled；
If receiving second instruction, full impregnated spectral filter shooting image is enabled, and it is red to start infrared light compensating lamp progress
Outer light filling.
4. equipment as described in claim 1, which is characterized in that the vision processor is specifically used for:
It will be spliced by the binocular camera in the image that synchronization is shot；
It determines the image that current time is spliced into and specifies the location of pixels of characteristic point to change in the image that previous moment is spliced into
Amount；
Based on the location of pixels variable quantity, replaced distance away the ground value, it is opposite at current time to calculate the flight equipment
In the displacement variable of previous moment in the horizontal plane.
5. a kind of method for obtaining location information, is applied in flight equipment, which is characterized in that the described method includes:
The image shot by binocular camera is obtained, and, by the distance away the ground value of the flight equipment of height sensor acquisition；
If it is determined that the distance away the ground value meets for characterizing the preset condition that distance away the ground value is exceptional value, then it will be by described double
The image depth values that the image of mesh camera shooting is determined, replace with the distance away the ground value of flight equipment；
According to the image of binocular camera shooting, replaced distance away the ground value, the change in displacement of the flight equipment is calculated
Amount.
6. method as claimed in claim 5, which is characterized in that described for characterizing the default item that distance away the ground value is exceptional value
Part is any one of the following conditions:
The following conditions are not satisfied in the distance away the ground value acquired in nearest continuous first preset times apart from current time:
The variable quantity of distance away the ground value is less than default variable quantity, lasting ascendant trend is presented in distance away the ground value, the presentation of distance away the ground value is held
Continuous downward trend；
Exceed the detection range of the height sensor in the distance away the ground value of current time acquisition；
Corresponding image is respectively less than in the distance away the ground value acquired in nearest continuous second preset times apart from current time
Depth value.
7. method as claimed in claim 5, which is characterized in that the image shot by binocular camera that obtains also wraps before
It includes:
Acquire the environmental light parameter for characterizing the light intensity of the flight equipment local environment；
Detect whether the environmental light parameter is greater than given threshold；
If more than then indicating that the binocular camera enables cutoff filter shooting image；
If being not more than, indicate that the binocular camera enables full impregnated spectral filter shooting image, and start infrared light filling.
8. method as claimed in claim 5, which is characterized in that according to the image, replaced right of binocular camera shooting
Ground height value calculates the displacement variable of the flight equipment, comprising:
It will be spliced by the binocular camera in the image that synchronization is shot；
It determines the image that current time is spliced into and specifies the location of pixels of characteristic point to change in the image that previous moment is spliced into
Amount；
Based on the location of pixels variable quantity, replaced distance away the ground value, it is opposite at current time to calculate the flight equipment
In the displacement variable of previous moment in the horizontal plane.
9. a kind of device for obtaining location information, is applied in flight equipment, which is characterized in that described device includes:
Obtain module, for obtains by binocular camera shoot image, and, by height sensor acquire flight equipment pair
Ground height value；
First processing module, for if it is determined that it is the default of exceptional value that the distance away the ground value, which meets for characterizing distance away the ground value,
Condition, the then image depth values determined the image shot by the binocular camera replace with the distance away the ground of flight equipment
Value；
Computing module, image, replaced distance away the ground value for being shot according to the binocular camera calculate the flight and set
Standby displacement variable.
10. device as claimed in claim 9, which is characterized in that described device further include:
Second processing module, for acquiring the environmental light parameter of the light intensity for characterizing the flight equipment local environment；
Detect whether the environmental light parameter is greater than given threshold；If more than then indicating that the binocular camera enables infrared cutoff
Optical filter shoots image；If being not more than, indicate that the binocular camera enables full impregnated spectral filter shooting image, and start red
Outer light filling.
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