CN112913221A - Image processing method, image processing device, traversing machine, image optimization system and storage medium - Google Patents
Image processing method, image processing device, traversing machine, image optimization system and storage medium Download PDFInfo
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- CN112913221A CN112913221A CN202080005876.9A CN202080005876A CN112913221A CN 112913221 A CN112913221 A CN 112913221A CN 202080005876 A CN202080005876 A CN 202080005876A CN 112913221 A CN112913221 A CN 112913221A
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- 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
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
- H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
- H04N23/632—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters for displaying or modifying preview images prior to image capturing, e.g. variety of image resolutions or capturing parameters
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
Abstract
The present disclosure relates to an image processing method for a traversing machine, an image processing apparatus, a traversing machine, an image optimization system, and a computer-readable storage medium. The image processing method for the traversing machine comprises the following steps: acquiring the flight state of a traversing machine (S21), wherein the traversing machine adopts a first shooting parameter to shoot, and the first shooting parameter is related to the flight speed of the traversing machine; when the flying state of the traversing machine is in a preset state, adjusting the first shooting parameters of the traversing machine into second shooting parameters (S22), wherein the second shooting parameters are related to image quality; shooting is performed based on the second shooting parameters, and a target video is obtained (S23). The method can ensure flight safety and obtain high-quality target video.
Description
Technical Field
The present disclosure relates to the field of image processing, and more particularly, to an image processing method, apparatus, traversing machine, image optimization system, and storage medium.
Background
When the traversing machine flies at a high speed, in order to ensure that motion blur does not occur, a user at the ground can see the surrounding environment clearly through a video returned by a picture, and flight safety is ensured.
Therefore, how to improve the quality of the video and images shot by the traversing machine is an urgent problem to be solved.
Disclosure of Invention
The present disclosure is directed to an image processing method for a traversing machine, which can obtain a high-quality target video, and the quality of a target image obtained from the target video is excellent.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to a first aspect of the present disclosure, there is provided an image processing method for a traversing machine, comprising: acquiring the flight state of a traversing machine, wherein the traversing machine adopts first shooting parameters for shooting, and the first shooting parameters are related to the flight speed of the traversing machine;
when the flying state of the traversing machine is in a preset state, adjusting the first shooting parameter of the traversing machine to be a second shooting parameter, wherein the second shooting parameter is related to the image quality of an image;
shooting is carried out based on the second shooting parameters, and a target video is obtained.
According to a second aspect of the present disclosure, there is provided an image processing apparatus, wherein the image processing apparatus comprises a processor configured to: acquiring the flight state of a traversing machine, wherein the traversing machine adopts first shooting parameters for shooting, and the first shooting parameters are related to the flight speed of the traversing machine;
when the flying state of the traversing machine is in a preset state, adjusting the first shooting parameter of the traversing machine to be a second shooting parameter, wherein the second shooting parameter is related to the image quality of an image;
shooting is carried out based on the second shooting parameters, and a target video is obtained.
According to a third aspect of the present disclosure, there is provided a traversing machine comprising: a body, a power system and the image processing device of the second aspect; wherein, the power system is installed on the fuselage for providing flight power.
According to a fourth aspect of the present disclosure, there is provided an image optimization system comprising: a remote control terminal and a traversing machine as described in the third aspect.
According to a fifth aspect of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the image processing method for a traversing machine according to the first aspect of the embodiments of the present disclosure.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.
FIG. 1 is an architectural diagram of an image optimization system according to an exemplary embodiment of the present disclosure;
FIG. 2 is a flow chart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure;
FIG. 3 is a flow chart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure;
FIG. 4 is a flow chart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure;
FIG. 5 is a flow chart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure;
FIG. 6 is a block diagram of a traversing machine according to an exemplary embodiment of the present disclosure;
fig. 7 is a schematic diagram illustrating a computer-readable storage medium according to an embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Further, the drawings are merely schematic illustrations of the present disclosure, in which the same reference numerals denote the same or similar parts, and thus, a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The following detailed description of exemplary embodiments of the disclosure refers to the accompanying drawings.
Fig. 1 is an architecture diagram of an image optimization system according to an exemplary embodiment of the present disclosure.
As shown in fig. 1, the image optimization system 100 may include a remote control terminal 101, a remote control terminal 102, and a traversing machine 104. The remote control end 101 and the remote control end 102 may communicate with the traversing machine 104 through the network 103, and data transmission may be performed between the remote control end 101 and the traversing machine 104 through a wireless transmission manner, such as WiFi, bluetooth, zigbee, and the like. The communication between the remote control terminal 101, the remote control terminal 102 and the traversing machine 104 can be realized through the traditional 4G, 5G, WiFi or the Internet and the like.
The remote terminals 101 and 102 may transmit an operation instruction of a user, for example; the traversing machine 104 may acquire the flight state of the traversing machine 104 after receiving an operation instruction of a user, or may automatically acquire the flight state of the traversing machine 104; when the flying state of the traversing machine 104 is in a preset state, the first shooting parameter of the traversing machine 104 may be adjusted to be the second shooting parameter, wherein the preset state may be, for example, that the traversing machine 104 is in a hovering state or a low-speed flying state; the traversing machine 104 can shoot based on the adjusted second shooting parameter to obtain a target video; the traversing machine 104 can store the target video in the traversing machine 104, and can also extract frames from the target video to obtain a target image; the traversing machine can send the target video and/or the target image to the remote control terminals 101 and 102; the remote control terminals 101, 102 may present a target video and/or a target image to the user. The remote control terminals 101 and 102 may be, for example and without limitation, a universal remote controller or a dedicated remote controller of the traversing machine 104, and may also be mobile terminals such as flight glasses, mobile phones, computers, tablet computers, handheld terminals, etc., on which corresponding application programs run, which may be used for remotely controlling the traversing machine 104. The remote terminals 101 and 102 may be provided with a display device, such as a display screen or a projection device, which may be used to display a target video or a target image transmitted through the crossing machine 104. The remote control terminals 101, 102 may receive an operation instruction input by a user, the remote control terminals 101, 102 may transmit the operation instruction to the traversing machine 104, and the remote control terminals 101, 102 may receive a target video or a target photo transmitted by the traversing machine 104, for example.
Fig. 2 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure. The image processing method for the traversing machine provided by the embodiment of the disclosure can be executed by any electronic equipment with computing processing capability. As shown in fig. 2, the image processing method 20 for a traversing machine provided by the embodiment of the present disclosure may include steps S21-S23.
In step S21, the flight status of the traversing machine is acquired.
The traversing machine can be a small unmanned aerial vehicle with high racing speed and a small quadrotor with short endurance time, and can be used for traversing forests, buildings and the like. The traversing machine can be provided with an image acquisition device for acquiring a target image, such as taking a picture and taking a video. The traversing machine shoots by adopting a first shooting parameter when flying, and the first shooting parameter is related to the flying speed of the traversing machine. For example, in the process of high-speed flight of the traversing machine, in order to ensure that a shot video image is not blurred, the shutter speed of a camera is generally set to be higher, the light sensitivity is set to be higher, and when a processor processes an image, the brightness intensity of an image dark area is also improved; the sensitivity and the brightness intensity of dark areas of the image are set high, so that the noise of the image is strong, and therefore, the processor sets the noise reduction intensity of the image to be high and sets the sharpening intensity of the image to be high.
The image acquisition device can be directly fixed on the traversing machine or can be fixed on the traversing machine through a holder, and the holder can be used for changing the direction of the image acquisition device.
The flight status of the traversing machine may include, for example, environmental information of the traversing machine, instrumentation data of the traversing machine, navigation data of the traversing machine, flight control status of the traversing machine, instrumentation data of the traversing machine, and the like.
By acquiring the flight state of the traversing machine, the flight speed of the traversing machine, whether obstacles exist around the traversing machine, whether the traversing machine shakes or not and the like can be judged.
For example, the flight state of the traversing machine can be acquired in real time, and the flight state of the traversing machine can also be acquired periodically.
In some embodiments, acquiring the flight status of the traversing machine comprises: acquiring environment information of the traversing machine, wherein the environment information comprises distance information between the traversing machine and a preset object.
The traversing machine may for example be provided with one or more sensors for acquiring environmental information around the traversing machine. Wherein, the one or more sensors can be one or more infrared sensors, laser radars, etc., and can be used for measuring the distance from the traversing machine to the preset object.
The preset object may be, for example, a building surrounding a crossing machine, a tree surrounding a crossing machine, an aircraft surrounding a crossing machine, and the like.
The traversing machine can acquire the distance information between the traversing machine and a preset object in the flying process so as to judge whether a photographing requirement exists.
In some embodiments, acquiring the flight status of the traversing machine comprises: and acquiring navigation data of the traversing machine.
The traversing machine can acquire navigation data of the traversing machine in the flying process, and a navigation system of the traversing machine can provide the position, the speed and the flying attitude of a reference coordinate system for the traversing machine and guide the traversing machine to fly according to a specified route.
In some embodiments, acquiring the flight status of the traversing machine comprises: and acquiring instrument data of the traversing machine, wherein the instrument data comprises jitter information of the traversing machine. For example, the meter data may be obtained based on an Inertial Measurement Unit (IMU) on the traversing machine.
In some embodiments, acquiring the flight status of the traversing machine comprises: and acquiring instrument data of the traversing machine, wherein the instrument data comprises the jitter information of the holder.
The traversing machine can acquire instrument data of the traversing machine in the flying process, and the instrument data can comprise jitter information of the traversing machine and the cradle head so as to acquire the jitter conditions of the traversing machine and the cradle head.
In some embodiments, acquiring the flight status of the traversing machine may include: and acquiring the flight state of the traversing machine after receiving the operation instruction sent by the target object or periodically.
The traversing machine can periodically acquire the flight state of the traversing machine. The period may be set according to actual conditions, and may be, for example, 30 seconds, 1 minute, or the like.
The traversing machine can also acquire the flight state of the traversing machine after receiving the operation instruction sent by the target object.
The target object may be, for example, an operator controlling a traversing machine.
The operation instruction of the target object can be sent through the remote control terminal, for example, the target object can operate a key of the remote control terminal to send the operation instruction to the traversing machine.
The operating instructions of the target object may also be sent through flight glasses.
The flying glasses can be head-wearing glasses, a touch panel and somatosensory control can be arranged on the flying glasses, the flying glasses can be seamlessly combined with the panoramic function of the traversing machine, the panoramic impression that the flying glasses look like being placed in the air to overlook the vast world is presented, and the rich multimedia playing function can enable the audio and video to be more shocked. The body of flight glasses is controlled and the panorama is looked and is felt, can promote user experience.
For example, the flying glasses can acquire an operation instruction by judging the gesture or posture of the operator, for example, the operation instruction can be triggered when the operator nods, and the flying glasses send the operation instruction to the unmanned aerial vehicle after acquiring the nodding action of the operator; when the operator puts out a preset gesture, the flying glasses can recognize the gesture, match the gesture in a preset gesture mode library, and after the matching is successful, an operation instruction can be sent to the traversing machine.
The action of triggering the operation instruction includes but is not limited to a nodding action, which can be set according to the needs of the user, and the preset gesture mode library can be set according to the needs, and can also be continuously updated according to the needs. The operation instruction may be, for example, a photographing instruction, and the photographing instruction may be, for example, an instruction for selecting a photographing mode, and may also include a preset object that a user wants to photograph; the operation instruction may also be other instructions for controlling the traversing machine, such as an operation instruction for controlling the attitude and the speed of the traversing machine, which is not limited in this disclosure.
In step S22, when the flying state of the crossing machine is in the preset state, the first photographing parameter of the crossing machine is adjusted to the second photographing parameter.
In some embodiments, the preset state may be that the pass-through machine receives a photographing instruction sent by a user. For example, after the traversing machine receives a photographing instruction sent by a user, the first photographing parameter of the traversing machine can be directly adjusted to be the second photographing parameter, or the flight state of the traversing machine can be acquired after the photographing instruction sent by the user is received, and whether the first photographing parameter of the traversing machine is adjusted to be the second photographing parameter is determined by judging whether the flight state of the traversing machine is in a preset state.
The disclosed embodiment can transmit the target video to the user for watching in real time based on a single sensor. After a user triggers a photographing instruction, the traversing machine can extract frames from a target video recorded in real time to obtain a target photo, and the target photo can be used as the photo taken by the user. After the traversing machine recognizes that the user needs to take a picture, for example, after the traversing machine receives a picture taking instruction of the user, the first picture taking parameter can be adjusted to the second picture taking parameter to take a picture, and the picture obtained by extracting frames from the target video obtained based on the second picture taking parameter has better picture quality and can meet the picture taking requirement of the user.
In some embodiments, the preset state may be that the traversing machine is in a hovering state or that the flying speed of the traversing machine is less than a first preset threshold. In the application, if the traversing machine is in a hovering state or the flying speed of the traversing machine is less than a preset threshold value, the default user has a photographing requirement, or the default user wants to see the surrounding environment clearly, and the traversing machine can switch photographing parameters at the moment, so that the image quality is ensured.
The first preset threshold value can be set as required to ensure the flight safety of the traversing machine.
For example, the traversing machine acquires the flying speed of the traversing machine, judges whether the traversing machine is in a hovering state or a low-speed flying state according to the flying speed, and adjusts the first shooting parameters of the traversing machine to be the second shooting parameters when the traversing machine is in the hovering state or the low-speed flying state.
When the traversing machine is in a hovering state or in low-speed flight, the first shooting parameters of the traversing machine can be adjusted to the second shooting parameters, so that a target video or a target image with better image quality can be obtained.
In some embodiments, the preset state may be that the traversing machine photographs a preset object. For example, when the traversing machine shoots a preset object, the first shooting parameter of the traversing machine is adjusted to be the second shooting parameter.
The preset object may be, for example, a building, an animal, a plant, or the like. The preset object can be set according to needs and can also be set according to an operation instruction sent by a user.
For example, the object that the user wants to shoot is a tree, the operation instruction sent by the remote control terminal or the flight glasses may include that the preset object is a tree, and when the tree is shot by the traversing machine, the first shooting parameter may be automatically adjusted to the second shooting parameter for shooting.
In some embodiments, the preset state of the traversing machine may be that the distance between the traversing machine and the preset object is less than a second preset threshold.
For example, after the traversing machine acquires the distance information between the traversing machine and the preset object, by comparing the relationship between the distance information between the traversing machine and the preset object and a second preset threshold value, when the distance information between the traversing machine and the preset object is smaller than the second preset threshold value, that is, when the traversing machine is closer to the object to be shot, the first shooting parameter of the traversing machine can be adjusted to the second shooting parameter; and when the distance information between the traversing machine and the preset object is greater than or equal to a second preset threshold value, namely the traversing machine is far away from the object to be shot, the traversing machine keeps the first shooting parameter to continue shooting. The second preset threshold may be set as desired.
In some embodiments, the preset state of the traversing machine may be that the traversing machine is in a steady state.
For example, the traversing machine acquires the meter data and can comprise shaking information of the traversing machine, whether the traversing machine is in a steady state or not is judged through the shaking information of the traversing machine, and when the traversing machine is in the steady state, the first shooting parameters of the traversing machine are adjusted to the second shooting parameters.
When the traversing machine is in a stable state, shooting parameters are adjusted to shoot, and a high-quality target video or a high-quality target photo can be obtained under the condition of ensuring safety.
In some embodiments, the preset state of the traversing machine may be that the cradle head is in a steady state.
For example, the instrument data acquired by the traversing machine may include the shake information of the pan/tilt head, whether the pan/tilt head is in a steady state is determined by the shake information of the pan/tilt head, and when the pan/tilt head is in the steady state, the first shooting parameter of the traversing machine is adjusted to the second shooting parameter.
When the holder is in a stable state, shooting parameters are adjusted to shoot, and a high-quality target video or a high-quality target photo can be obtained under the condition of ensuring safety. In some embodiments, the second photographing parameter may be, for example, one or more of shutter speed, sensitivity, aperture, image sharpening intensity, image noise reduction intensity, image dark region brightening intensity, or focal length.
In some embodiments, adjusting the first photographing parameter of the traversing machine to the second photographing parameter comprises: one or more of reducing shutter speed, reducing light sensitivity, reducing aperture, reducing image sharpening intensity, reducing image noise reduction intensity, reducing image dark area brightening intensity, or adjusting focal length.
In the flying process of the traversing machine, in order to ensure that the shot video is clear and the surrounding environment can be seen by the user, the shooting parameters of the video are usually set to be higher in combination with the flying speed of the traversing machine, and the target image obtained after the target video is subjected to frame extraction is poor in image quality according to the target video obtained by the higher shooting parameters. The first shooting parameter is adjusted to be the second shooting parameter by reducing the shooting parameter of the traversing machine, shooting is carried out according to the adjusted shooting parameter to obtain the target video, and the target image obtained after the frame extraction is carried out on the target video has better image quality and better meets the shooting requirement of a user.
During the flight of the traversing machine, the shooting parameters are generally set to be higher.
For example, the traversing machine has a fast speed during traversing, and in order to ensure that a shot video image is not blurred, the shutter speed of the camera is usually set to be high, the light sensitivity is set to be high, and the processor also can improve the brightness enhancement intensity of an image dark area during processing the image; the sensitivity and the brightness intensity of dark areas of the image are set high, so that the noise of the image is strong, and therefore, the processor sets the noise reduction intensity of the image to be high and sets the sharpening intensity of the image to be high.
During flight, the focal length is set high, for example, the focal length is set to infinity, and the focal length is set to an ultra-wide angle, in order to see a sufficiently large field of view.
It should be noted that, when the traversing machine flies at a high speed, the target video obtained by shooting based on the first shooting parameter can be transmitted to the remote control end in real time for the user to watch, and the live view (real-time view) picture transmitted in real time can meet the watching requirement of the user.
When a frame is extracted from a target video obtained by shooting based on the first shooting parameter, as a target image, because the first shooting parameter is usually set to be high, for example, the shutter speed is high, the obtained target image may have a problem of blurred image quality, which does not meet the requirements of users for photos.
When the traversing machine meets the preset state, shooting parameters of the traversing machine can be adjusted, for example, one or more of shutter speed reduction, light sensitivity ISO reduction, aperture reduction, image sharpening strength reduction, image noise reduction strength reduction, image dark space brightening strength reduction or focal length adjustment can be carried out, and high-quality target videos and target images can be obtained.
By reducing the shooting parameters of the traversing machine and extracting frames from the target video obtained by shooting based on the second shooting parameters, the obtained target image has better image quality and better meets the requirements of users on photos.
It should be noted that the preset state set by the application aims to identify whether the user has a photographing requirement, and if the preset state is met, the user has the photographing requirement, so that the photographing parameter during the video recording of the photographing device is switched to the second photographing parameter, and the second photographing parameter better meets the photographing requirement of the user compared with the first photographing parameter. After the second shooting parameter is switched to, the recorded video is more in accordance with the shooting parameter during shooting, and then the photo meeting the shooting requirement of the user can be extracted from the recorded video stream.
Besides identifying whether the user has a photographing requirement based on the preset state, whether the preset state is met can be used as a trigger condition for switching the photographing parameters, for example, when the crossing machine is detected to be hovering or flying at a low speed, the first photographing parameter also needs to be switched to the second photographing parameter. For example, the traversing machine is in a live view picture for previewing to the ground end or in a video recording state, and when the traversing machine is detected to hover or fly at a low speed, the shooting parameters also need to be switched. This is because the shooting parameters of the traversing device are usually higher when flying at a high speed, and it is obviously unreasonable to continue to use higher shooting parameters to shoot when the traversing device flies at a low speed or even suspends, and the shooting parameters need to be adjusted to normal to obtain a high-quality picture, for example, one or more of shutter speed reduction, light sensitivity reduction, aperture reduction, image sharpening strength reduction, image noise reduction strength reduction, image dark area brightness reduction or focal length adjustment can be performed to shoot a higher-quality image.
The traversing machine can be provided with an exposure system, for example, and the exposure system can intelligently switch exposure strategies and automatically adjust shooting parameters of the traversing machine.
The reduction of the sensitivity can reduce the sensitivity from 400 to 100, for example, and the obtained target video or target image is simpler in post-processing and does not have the problem of overexposure of a local area, such as a sky area in the target video or target image.
The focal length can be adjusted, for example, to set the focal length to a preset distance, and the focal length can be adjusted from a super wide angle to a normal wide angle, so that a high-quality target video and a high-quality target image can be obtained.
The first shooting parameter and the second shooting parameter can be set according to actual conditions, for example, the first shooting parameter can be set according to the flight speed of the traversing machine and the requirement of recording videos, and the second shooting parameter can be set according to the requirement of a user on the picture quality.
In some embodiments, the first photographing parameter is set according to whether a picture photographed by the traversing machine while flying at a high speed is visible to a user; the second shooting parameter is set according to the image quality requirement of the user on the shooting picture.
The high-speed flight can be, for example, that the flying speed of the traversing machine is greater than a preset value, and the preset value can be set as required; the first shooting parameter may also be determined, for example, according to the sharpness of the shot video.
In step S23, shooting is performed based on the second shooting parameters, and a target video is obtained.
The traversing machine can shoot according to the adjusted second shooting parameters to obtain a high-quality target video.
The second photographing parameter may be, for example, one or more of a shutter speed, a sensitivity, an aperture, an image sharpening intensity, an image noise reduction intensity, an image dark area brightening intensity, or a focal length.
In some embodiments, the shutter speed of the first shooting parameter is higher than the shutter speed of the second shooting parameter, the sensitivity of the first shooting parameter is higher than the sensitivity of the second shooting parameter, the aperture of the first shooting parameter is larger than the aperture of the second shooting parameter, the intensity of sharpening processing on the image in the first shooting parameter is larger than the intensity of sharpening processing on the image in the second shooting parameter, the intensity of noise reduction processing on the image in the first shooting parameter is larger than the intensity of noise reduction processing on the image in the second shooting parameter, or the intensity of dark area brightening on the image in the first shooting parameter is larger than the intensity of dark area brightening on the image in the second shooting parameter.
For example, when shooting is performed based on the adjusted sensitivity and the brightness enhancement of dark areas of an image, the obtained target video is less noisy.
For example, shooting is performed based on the adjusted focal length and focal length, and the obtained target video does not have a serious distortion problem.
According to the image processing method for the traversing machine, by acquiring the flight state of the traversing machine, when the flight state of the traversing machine is in the preset state, the shooting parameters of the traversing machine are adjusted, shooting is carried out based on the adjusted shooting parameters, a high-quality target video can be obtained, and the image quality of a target image obtained according to the target video is better.
Fig. 3 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.
The image processing method 30 for a crossing machine shown in fig. 3 may further include steps S31-S32 on the basis of the image processing method 20 for a crossing machine shown in fig. 2.
In step S31, a target image is acquired based on the target video.
In some embodiments, the target image may be obtained by extracting frames from the target Video based on a PIV (Photo In Video) technique.
For example, a high-quality target image may be obtained by extracting frames from a high-quality target video shot by a traversing machine based on the PIV technology, or a target image may be obtained based on a target video based on other technologies.
The frame extraction from the target video may be implemented by using an image processing tool, such as an OpenCV (Open Computer Vision) tool, which may process the target video according to a preset frame extraction frequency and a preset frame extraction number to obtain the target image. The target image is a picture captured from the target video, the target image can be set according to the requirements of the user, and the target image can be one or more.
The target image may be, for example, an image containing a preset object, and may be, for example, an image of a tree, an image of a building, or the like.
The target image may be an image at a preset position or an image at a preset height, for example.
The target image may be, for example, an image photographed based on the second photographing parameter.
Extracting frames from the target video, and obtaining the target image may include: determining the number of images to be extracted of the target video based on the duration of the target video; and according to the duration of the target video and the number of the images to be extracted, performing frame extraction on the target video to obtain a target image.
For example, the relationship between the duration range of the target video and the number of the images to be extracted can be preset, the duration of the target video is obtained, and the number of the images to be extracted is determined according to the duration of the target video and the relationship between the preset duration of the target video and the number of the images to be extracted.
The extraction interval may be determined, for example, according to the duration of the target video and the number of images to be extracted.
For example, the target image may be obtained by extracting frames from the target video at every extraction interval according to the extraction interval.
After the target image is obtained, image processing may be performed on the target image, for example, brightness and contrast of the target image may be adjusted, or a picture size, resolution, and compression rate of the target image may be adjusted according to a user requirement.
In this embodiment of the present disclosure, before performing frame extraction processing on a target video, the method may further include: the target video is cut, for example, the part of the target video which does not meet the user requirement can be cut according to the user requirement.
In step S32, the target video or the target image is transmitted or stored.
The traversing machine can be provided with a memory for storing a target video shot by the traversing machine and a target image obtained by the target video.
The traversing machine can store the target video in the traversing machine, can send the target video to the remote control terminal or the server, and the remote control terminal or the server can process the target video to obtain the target image.
The traversing machine can store the target video and the target image in the traversing machine, and can send the target image to a remote control end or a server for displaying or processing.
The remote control terminal or the server may be provided with a display device, for example, a display screen or a projection device, and may be used to display a target video or a target image transmitted by the traversing machine.
For example, the traversing machine can send the target video or the target image to the flying glasses, and the flying glasses can show the target video or the target image to the user in real time, so that the user experience is improved.
For example, the traversing machine can send the target video or the target image to a remote controller or a mobile phone terminal, the remote controller or the mobile phone terminal can display the target video or the target image to a user in real time, and the mobile phone terminal can process and store the target video or the target image.
For example, the traversing machine may transmit the target video or the target image to the server, and the server may process the target video or the target image, for example, the target video or the target image may be processed by PS (photo shot, image processing software).
Fig. 4 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.
On the basis of the image processing method for a crossing machine 20 shown in fig. 2, the image processing method for a crossing machine 40 shown in fig. 4 may further include steps S41-S42.
In step S41, when the flying state of the crossing machine is not in the preset state or reaches the preset time, the second shooting parameters of the crossing machine are adjusted to the first shooting parameters of the crossing machine.
When the flying state of the traversing machine is changed from the preset state to the non-preset state, the second shooting parameter of the traversing machine can be adjusted to be the first shooting parameter.
For example, after the traversing machine changes from a hovering state to a high-speed flight state, in order to ensure flight safety, shooting parameters of the traversing machine can be increased; when the distance from the traversing machine to the surrounding object is changed from being larger than the second preset threshold value to being smaller than or equal to the second preset threshold value, the shooting parameters of the traversing machine can be adjusted to be high.
After the traversing machine shoots for the preset time based on the second shooting parameters, the second shooting parameters of the traversing machine can be adjusted to the first shooting parameters of the traversing machine.
For example, after the traversing machine shoots for ten minutes based on the second shooting parameter, the shooting parameter of the traversing machine can be adjusted to be high, wherein the preset time can be set according to actual needs.
In some embodiments, adjusting the second photographing parameter of the traversing machine to the first photographing parameter comprises: the method comprises one or more of improving shutter speed, improving light sensitivity, improving aperture, improving image sharpening strength, improving image noise reduction strength, improving image dark area brightening strength or adjusting focal length.
In step S42, photographing is performed based on the first photographing parameter of the traversing machine.
The traversing machine can continue shooting based on the adjusted first shooting parameters, and the second shooting parameters of the traversing machine are adjusted to be the first shooting parameters, so that the flight safety of the traversing machine in the flight process can be ensured.
Fig. 5 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.
After step S21 of the image processing method for a crossing machine 20 shown in fig. 2, the image processing method for a crossing machine 50 shown in fig. 5 may further include step S51.
In step S51, when the flying state of the crossing machine is not in the preset state, photographing is performed based on the first photographing parameter.
In some embodiments, the preset state includes that the traversing machine receives a photographing instruction sent by a user, the traversing machine is in a hovering state, the flying speed of the traversing machine is less than a first preset threshold value, or the traversing machine photographs a preset object.
For example, when the traversing machine does not receive a photographing instruction sent by the user, photographing can be carried out based on the first photographing parameter.
For example, when the traversing machine does not shoot the preset object, the shooting can be performed based on the first shooting parameter, the preset object can be set as required, and the preset object can be, for example, a building, an animal, a plant, and the like.
In some embodiments, the preset state of the traversing machine may be that the distance between the traversing machine and the preset object is less than a second preset threshold.
For example, after the traversing machine acquires the distance information between the traversing machine and the preset object, by comparing the relationship between the distance information between the traversing machine and the preset object and a second preset threshold value, when the distance information between the traversing machine and the preset object is smaller than the second preset threshold value, that is, when the traversing machine is closer to the object to be shot, the first shooting parameter of the traversing machine can be adjusted to the second shooting parameter; and when the distance information between the traversing machine and the preset object is greater than or equal to a second preset threshold value, namely the traversing machine is far away from the object to be shot, the traversing machine keeps the first shooting parameter to continue shooting. The second preset threshold may be set as desired. The preset state of the traversing machine can be that the traversing machine is in a hovering state or the flying speed of the traversing machine is lower than a first preset threshold value, and the first preset threshold value can be set as required.
For example, the traversing machine can acquire the flying speed of the traversing machine, judge whether the traversing machine is in a hovering state or a low-speed flying state according to the flying speed, and shoot based on the first shooting parameters when the traversing machine is in a high-speed flying state.
The preset state of the traversing machine can be that the traversing machine and the holder are in a stable state.
For example, the traversing machine may acquire the meter data and may include shaking information of the traversing machine and the pan/tilt head, determine whether the traversing machine and the pan/tilt head are in a stable state or not according to the shaking information of the traversing machine and the pan/tilt head, and perform shooting based on the first shooting parameter when the traversing machine or the pan/tilt head shakes.
According to the image processing method for the traversing machine, by acquiring the flight state of the traversing machine, when the flight state of the traversing machine is not in the preset state, shooting is carried out based on the first shooting parameter, and the flight safety of the traversing machine can be ensured.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "module" or "system.
Fig. 6 is a block diagram of a traversing machine according to an exemplary embodiment of the present disclosure.
As shown in fig. 6, the traversing apparatus 600 may include: a camera 610, a body 620, a power system 630 and an image processing device 640; wherein, the power system 630 can be installed on the fuselage for providing flight power; the image processing device 640 may be configured to: acquiring the flight state of the traversing machine; when the flying state of the traversing machine is in a preset state, adjusting the first shooting parameter of the traversing machine to be a second shooting parameter; shooting is carried out based on the second shooting parameters, and a target video is obtained.
In an exemplary embodiment of the present disclosure, the image processing apparatus 640 is further configured to: and acquiring a target image based on the target video.
In an exemplary embodiment of the present disclosure, the image processing apparatus 640 is further configured to: and transmitting or storing the target video or the target image.
In an exemplary embodiment of the present disclosure, after obtaining the target video, the image processing apparatus 640 is further configured to: when the flying state of the traversing machine is not in the preset state or reaches the preset time, adjusting the second shooting parameters of the traversing machine to the first shooting parameters of the traversing machine; shooting is carried out based on the first shooting parameters of the traversing machine.
In an exemplary embodiment of the present disclosure, acquiring a flight status of a traversing machine includes: and acquiring the flight state of the traversing machine after receiving the operation instruction sent by the target object or periodically.
In an exemplary embodiment of the present disclosure, the image processing apparatus 640 is further configured to: and when the flying state of the traversing machine is not in a preset state, shooting based on the first shooting parameter.
In an exemplary embodiment of the disclosure, the preset state includes that the traversing machine receives a photographing instruction sent by a user, the traversing machine is in a hovering state, the flying speed of the traversing machine is less than a first preset threshold value, or the traversing machine photographs a preset object.
In an exemplary embodiment of the present disclosure, adjusting the first photographing parameter of the traversing machine to the second photographing parameter includes: one or more of reducing shutter speed, reducing light sensitivity, reducing aperture, reducing image sharpening intensity, reducing image noise reduction intensity, reducing image dark area brightening intensity, or adjusting focal length.
In an exemplary embodiment of the present disclosure, acquiring the flight status of the crossing machine includes: acquiring environment information of a traversing machine, wherein the environment information comprises distance information between the traversing machine and a preset object; the preset state is that the distance between the traversing machine and the preset object is larger than a second preset threshold value.
In an exemplary embodiment of the present disclosure, acquiring the flight status of the crossing machine includes: acquiring navigation data of a traversing machine; the preset state is a hovering state or the flying speed of the traversing machine is lower than a first preset threshold value.
In an exemplary embodiment of the present disclosure, acquiring the flight status of the crossing machine includes: acquiring instrument data of a traversing machine, wherein the instrument data comprises jitter information of the traversing machine; the preset state is that the traversing machine is in a stable state.
In an exemplary embodiment of the present disclosure, acquiring the flight status of the crossing machine includes: acquiring instrument data of a traversing machine, wherein the instrument data comprises the jitter information of a holder; the preset state is that the holder is in a stable state.
In an exemplary embodiment of the present disclosure, acquiring a target image based on a target video includes: and based on the PIV technology, extracting frames from the target video to obtain a target image.
According to the traversing machine disclosed by the embodiment of the disclosure, by acquiring the flight state of the traversing machine, when the flight state of the traversing machine is in the preset state, the shooting parameters of the traversing machine are adjusted, and shooting is performed based on the adjusted shooting parameters, so that high-quality target videos can be obtained while flight safety is ensured.
In addition, the present application also provides an image processing apparatus, which includes a processor, and the processor is configured to execute executable program instructions to implement the technical solutions mentioned in the above method embodiments.
Referring to fig. 7, a program product 700 for implementing the above method according to an embodiment of the present disclosure is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present disclosure.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (32)
1. An image processing method for a traversing machine, comprising:
acquiring the flight state of a traversing machine, wherein the traversing machine adopts first shooting parameters for shooting, and the first shooting parameters are related to the flight speed of the traversing machine;
when the flying state of the traversing machine is in a preset state, adjusting the first shooting parameter of the traversing machine to be a second shooting parameter, wherein the second shooting parameter is related to the image quality of an image;
shooting is carried out based on the second shooting parameters, and a target video is obtained.
2. The method of claim 1, further comprising:
and acquiring a target image based on the target video.
3. The method of claim 2, further comprising:
and transmitting or storing the target video or the target image.
4. The method of claim 1, after obtaining the target video, further comprising:
when the flying state of the traversing machine is not in a preset state or reaches a preset time, adjusting the second shooting parameters of the traversing machine to the first shooting parameters of the traversing machine;
shooting based on the first shooting parameters of the traversing machine.
5. The method of claim 1, wherein acquiring a flight status of a traversing machine comprises:
and acquiring the flight state of the traversing machine after receiving an operation instruction sent by the target object or periodically.
6. The method according to any one of claims 1 to 5, wherein the first shooting parameter is set according to whether a picture shot by the traversing machine during high-speed flight is visible to a user; the second shooting parameter is set according to the image quality requirement of the user on the shooting picture.
7. The method according to any one of claims 1 to 6, wherein a shutter speed of the first shooting parameter is higher than a shutter speed of the second shooting parameter, a sensitivity of the first shooting parameter is higher than a sensitivity of the second shooting parameter, an aperture of the first shooting parameter is larger than an aperture of the second shooting parameter, an intensity of sharpening processing on an image in the first shooting parameter is larger than an intensity of sharpening processing on an image in the second shooting parameter, an intensity of noise reduction processing on an image in the first shooting parameter is larger than an intensity of noise reduction processing on an image in the second shooting parameter, or an intensity of dark-area brightening on an image in the first shooting parameter is larger than an intensity of dark-area brightening on an image in the second shooting parameter.
8. The method of claim 1, wherein the preset state comprises that the traversing machine receives a photographing instruction sent by a user, the traversing machine is in a hovering state, the flying speed of the traversing machine is less than a first preset threshold value or the traversing machine photographs a preset object.
9. The method of claim 1, wherein the adjusting the first camera parameters of the traversing machine to the second camera parameters comprises: one or more of reducing shutter speed, reducing light sensitivity, reducing aperture, reducing image sharpening intensity, reducing image noise reduction intensity, reducing image dark area brightening intensity, or adjusting focal length.
10. The method of claim 1, wherein acquiring a flight status of a traversing machine comprises: acquiring environment information of the traversing machine, wherein the environment information comprises distance information between the traversing machine and a preset object; the preset state is that the distance between the traversing machine and a preset object is smaller than a second preset threshold value.
11. The method of claim 1, wherein acquiring a flight status of a traversing machine comprises: acquiring navigation data of the traversing machine; the preset state is a hovering state or the flying speed of the traversing machine is lower than a first preset threshold value.
12. The method of claim 1, wherein acquiring a flight status of a traversing machine comprises: acquiring instrument data of the traversing machine, wherein the instrument data comprises jitter information of the traversing machine; the preset state is that the traversing machine is in a stable state.
13. The method of claim 1, wherein acquiring a flight status of a traversing machine comprises: acquiring instrument data of the traversing machine, wherein the instrument data comprises the jitter information of a holder; the preset state is that the holder is in a stable state.
14. The method of claim 2, wherein obtaining a target image based on the target video comprises: and based on a PIV technology, extracting frames from the target video and acquiring the target image.
15. An image processing apparatus, characterized in that the image processing apparatus comprises a processor for:
acquiring the flight state of a traversing machine, wherein the traversing machine adopts first shooting parameters for shooting, and the first shooting parameters are related to the flight speed of the traversing machine;
when the flying state of the traversing machine is in a preset state, adjusting the first shooting parameter of the traversing machine to be a second shooting parameter, wherein the second shooting parameter is related to the image quality of an image;
shooting is carried out based on the second shooting parameters, and a target video is obtained.
16. The image processing apparatus of claim 15, wherein the processor is further configured to:
and acquiring a target image based on the target video.
17. The image processing apparatus according to claim 15 or 16, wherein the processor is configured to:
and transmitting or storing the target video or the target image.
18. The image processing apparatus of claim 15, wherein after obtaining the target video, the processor is further configured to:
when the flying state of the traversing machine is not in a preset state or reaches a preset time, adjusting the second shooting parameters of the traversing machine to the first shooting parameters of the traversing machine;
shooting based on the first shooting parameters of the traversing machine.
19. The image processing device of claim 15, wherein acquiring the flight state of the traversing machine comprises:
and acquiring the flight state of the traversing machine after receiving an operation instruction sent by the target object or periodically.
20. The image processing apparatus according to any one of claims 15 to 19, wherein the first photographing parameter is set according to whether a picture taken by the crossing machine while flying at a high speed is visible to a user; the second shooting parameter is set according to the image quality requirement of the user on the shooting picture.
21. The apparatus according to any one of claims 15 to 20, wherein a shutter speed of the first shooting parameter is higher than a shutter speed of the second shooting parameter, a sensitivity of the first shooting parameter is higher than a sensitivity of the second shooting parameter, an aperture of the first shooting parameter is larger than an aperture of the second shooting parameter, an intensity of sharpening processing on the image in the first shooting parameter is larger than an intensity of sharpening processing on the image in the second shooting parameter, an intensity of noise reduction processing on the image in the first shooting parameter is larger than an intensity of noise reduction processing on the image in the second shooting parameter, or an intensity of dark-area brightening on the image in the first shooting parameter is larger than an intensity of dark-area brightening on the image in the second shooting parameter.
22. The image processing device of claim 15, wherein the preset state comprises that the traversing machine receives a photographing instruction sent by a user, the traversing machine is in a hovering state, the flying speed of the traversing machine is less than a first preset threshold value or the traversing machine photographs a preset object.
23. The image processing apparatus according to claim 15, wherein the adjusting the first photographing parameter of the traversing device to the second photographing parameter comprises: one or more of reducing shutter speed, reducing light sensitivity, reducing aperture, reducing image sharpening intensity, reducing image noise reduction intensity, reducing image dark area brightening intensity, or adjusting focal length.
24. The image processing apparatus of claim 15, wherein acquiring the flight status of the traversing machine comprises: acquiring environment information of the traversing machine, wherein the environment information comprises distance information between the traversing machine and a preset object; the preset state is that the distance between the traversing machine and a preset object is smaller than a second preset threshold value.
25. The image processing apparatus of claim 15, wherein acquiring the flight status of the traversing machine comprises: acquiring navigation data of the traversing machine; the preset state is a hovering state or the flying speed of the traversing machine is lower than a first preset threshold value.
26. The image processing apparatus of claim 15, wherein acquiring the flight status of the traversing machine comprises: acquiring instrument data of the traversing machine, wherein the instrument data comprises jitter information of the traversing machine; the preset state is that the traversing machine is in a stable state.
27. The image processing apparatus of claim 15, wherein acquiring the flight status of the traversing machine comprises: acquiring instrument data of the traversing machine, wherein the instrument data comprises the jitter information of a holder; the preset state is that the holder is in a stable state.
28. The image processing apparatus according to claim 16, wherein acquiring a target image based on the target video comprises: and based on a PIV technology, extracting frames from the target video and acquiring the target image.
29. A traversing machine, comprising: a fuselage, a power system and an image processing module according to any one of claims 15-28; wherein, the power system is installed on the fuselage for providing flight power.
30. An image optimization system, comprising: a remote control terminal and a traversing machine according to claim 29.
31. The system of claim 30, further comprising glasses for receiving and displaying video or images transmitted by the traversing machine.
32. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1-14.
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| PCT/CN2020/103091 WO2022016334A1 (en) | 2020-07-20 | 2020-07-20 | Image processing method and apparatus, racing drone, image optimization system and storage medium |
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| CN105516595A (en) * | 2015-12-23 | 2016-04-20 | 小米科技有限责任公司 | Shooting method and device |
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| CN110291776A (en) * | 2018-05-30 | 2019-09-27 | 深圳市大疆创新科技有限公司 | Flight control method and aircraft |
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| CN105516595A (en) * | 2015-12-23 | 2016-04-20 | 小米科技有限责任公司 | Shooting method and device |
| CN105959587A (en) * | 2016-05-27 | 2016-09-21 | 北京小米移动软件有限公司 | Shutter speed acquisition method and device |
| US20190281209A1 (en) * | 2016-12-02 | 2019-09-12 | SZ DJI Technology Co., Ltd. | Photographing control method, apparatus, and control device |
| CN108476288A (en) * | 2017-05-24 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Filming control method and device |
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