CN110809746A - 控制装置、摄像装置、移动体、控制方法以及程序 - Google Patents

控制装置、摄像装置、移动体、控制方法以及程序 Download PDF

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Publication number
CN110809746A
CN110809746A CN201980003166.XA CN201980003166A CN110809746A CN 110809746 A CN110809746 A CN 110809746A CN 201980003166 A CN201980003166 A CN 201980003166A CN 110809746 A CN110809746 A CN 110809746A
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China
Prior art keywords
image pickup
imaging
image
images
control
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Pending
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CN201980003166.XA
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English (en)
Inventor
本庄谦一
邵明
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN110809746A publication Critical patent/CN110809746A/zh
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G02B7/36—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/673—Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method
    • 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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Accessories Of Cameras (AREA)
  • Automatic Focus Adjustment (AREA)
  • Focusing (AREA)

Abstract

需要一种能够在抑制由摄像装置拍摄的图像的数据量的同时，更可靠地拍摄期望的图像的方法。控制装置可以包括第一控制部，其在摄像装置的摄像方向改变期间，使摄像装置拍摄多个图像，包括指定部，其基于多个图像来指定满足预定条件的摄像装置的摄像方向，第二控制部，其在摄像装置的摄像方向改变期间，在包括由指定部指定的摄像装置的摄像方向的第二角度范围内，使摄像装置每单位角度拍摄比不包括由指定部指定的摄像装置的摄像方向的第一角度范围更多的图像。

Description

PCT国内申请，说明书已公开。

Claims (20)

  1. PCT国内申请，权利要求书已公开。
CN201980003166.XA 2018-04-26 2019-04-22 控制装置、摄像装置、移动体、控制方法以及程序 Pending CN110809746A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018-085848 2018-04-26
JP2018085848A JP6630939B2 (ja) 2018-04-26 2018-04-26 制御装置、撮像装置、移動体、制御方法、及びプログラム
PCT/CN2019/083679 WO2019206076A1 (zh) 2018-04-26 2019-04-22 控制装置、摄像装置、移动体、控制方法以及程序

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US (1) US20210014427A1 (zh)
JP (1) JP6630939B2 (zh)
CN (1) CN110809746A (zh)
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115299033A (zh) * 2021-02-09 2022-11-04 Jvc建伍株式会社 拍摄装置和拍摄处理方法

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WO2020061857A1 (en) * 2018-09-26 2020-04-02 SZ DJI Technology Co., Ltd. Autofocusing camera and systems
JP2022032206A (ja) * 2020-08-11 2022-02-25 コベルコ建機株式会社 作業支援装置

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CN106708050A (zh) * 2016-12-30 2017-05-24 四川九洲电器集团有限责任公司 一种图像采集方法及能够自主移动的设备
JP2017134363A (ja) * 2016-01-29 2017-08-03 キヤノン株式会社 レンズ制御装置、レンズ制御方法、プログラム
WO2017156302A1 (en) * 2016-03-10 2017-09-14 Visbit Inc. Time multiplexing programmable field of view imaging
CN107172361A (zh) * 2017-07-12 2017-09-15 维沃移动通信有限公司 一种全景拍摄的方法及移动终端

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JP4717840B2 (ja) * 2007-02-15 2011-07-06 富士フイルム株式会社 撮像装置およびその制御方法
CN104192314B (zh) * 2014-09-24 2016-03-30 深圳市创新智慧港有限公司 一种带图形自处理的多角度任意航拍器
CN109987226B (zh) * 2014-12-23 2021-01-22 深圳市大疆灵眸科技有限公司 Uav全景成像
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JP2017134363A (ja) * 2016-01-29 2017-08-03 キヤノン株式会社 レンズ制御装置、レンズ制御方法、プログラム
WO2017156302A1 (en) * 2016-03-10 2017-09-14 Visbit Inc. Time multiplexing programmable field of view imaging
CN106708050A (zh) * 2016-12-30 2017-05-24 四川九洲电器集团有限责任公司 一种图像采集方法及能够自主移动的设备
CN107172361A (zh) * 2017-07-12 2017-09-15 维沃移动通信有限公司 一种全景拍摄的方法及移动终端

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115299033A (zh) * 2021-02-09 2022-11-04 Jvc建伍株式会社 拍摄装置和拍摄处理方法
CN115299033B (zh) * 2021-02-09 2023-07-11 Jvc建伍株式会社 拍摄装置和拍摄处理方法

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WO2019206076A1 (zh) 2019-10-31
US20210014427A1 (en) 2021-01-14
JP6630939B2 (ja) 2020-01-15
JP2019191428A (ja) 2019-10-31

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