CN114143472A - Image exposure method and device, shooting equipment and unmanned aerial vehicle - Google Patents
Image exposure method and device, shooting equipment and unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention discloses an image exposure method and device, shooting equipment and an unmanned aerial vehicle. An image exposure method comprising: acquiring a visual angle of a camera in the unmanned aerial vehicle; determining an exposure mode of an image shot by the camera according to the visual angle; and controlling the camera to shoot the image to be exposed according to the exposure mode so as to obtain a target image. According to the image exposure method provided by the embodiment of the invention, the exposure mode of the image shot by the camera is determined according to the visual angle of the camera in the unmanned aerial vehicle, so that the problem of overexposure or partial darkness of the image at different angles can be solved, and the quality of the image shot by the unmanned aerial vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to an image exposure method and device, shooting equipment and an unmanned aerial vehicle.
Background
In an unmanned aerial vehicle for aerial photography, image data are generally acquired by cameras in six directions of forward view, rear view, downward view, left view, right view and upward view.
In the prior art, cameras in all directions adopt the same shooting mode to shoot, so that the shot image quality does not meet the requirements.
Disclosure of Invention
The embodiment of the invention provides an image exposure method and device, shooting equipment and an unmanned aerial vehicle, which can improve the image quality shot by the unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides an image exposure method for an unmanned aerial vehicle, where the method includes:
acquiring a visual angle of a camera in the unmanned aerial vehicle;
determining an exposure mode of an image shot by the camera according to the visual angle;
and controlling the camera to shoot the image to be exposed according to the exposure mode so as to obtain a target image.
Further, the camera includes at least one of unmanned aerial vehicle's foresight camera, back vision camera, left side look camera or right side look camera, then, according to the exposure mode that the camera was shot to the visual angle is confirmed, include:
continuously exposing for two times according to a first exposure duration and a second exposure duration, wherein the first exposure duration is smaller than the second exposure duration; then the process of the first step is carried out,
the controlling the camera to shoot the image and expose according to the exposure mode to obtain the target image comprises:
exposing the shot image according to the first exposure duration to obtain a first shot image;
exposing the shot image according to the second exposure duration to obtain a second shot image;
and averaging the brightness values of the corresponding pixel points of the first shot image and the second shot image to obtain the target image.
Further, the camera includes at least one of a forward-looking camera, a rear-looking camera, a left-looking camera or a right-looking camera of the unmanned aerial vehicle, and then, the exposure mode of the camera shooting image is determined according to the visual angle, including:
exposing once according to the automatic exposure duration of the camera; then the process of the first step is carried out,
the controlling the camera to shoot the image and expose according to the exposure mode to obtain the target image comprises:
exposing according to the automatic exposure duration to obtain an initial image;
and acquiring an exposure weight table, and performing weighted calculation on the brightness value of the initial image pixel point according to the exposure weight table to obtain the target image.
Further, the camera includes unmanned aerial vehicle's downward looking camera, then, according to the exposure mode that the camera was shot to the visual angle is confirmed, include:
and increasing the exposure brightness of the camera and/or improving the exposure duration of the camera.
Further, the camera includes unmanned aerial vehicle's upward view camera, then, according to the exposure mode that the camera was shot to the visual angle is confirmed, include:
and reducing the exposure brightness of the camera and/or reducing the exposure time of the camera.
In a second aspect, an embodiment of the present invention further provides an image exposure apparatus for an unmanned aerial vehicle, where the apparatus includes:
the visual angle acquisition module is used for acquiring the visual angle of the camera in the unmanned aerial vehicle;
the exposure mode determining module is used for determining the exposure mode of the image shot by the camera according to the visual angle;
and the target image acquisition module is used for controlling the camera to shoot the image and expose according to the exposure mode so as to obtain a target image.
Further, the camera comprises at least one of a forward-looking camera, a rear-looking camera, a left-looking camera or a right-looking camera of the unmanned aerial vehicle; then the process of the first step is carried out,
the exposure mode determining module is specifically configured to continuously expose twice according to a first exposure duration and a second exposure duration, where the first exposure duration is smaller than the second exposure duration; then the process of the first step is carried out,
the target image acquisition module is specifically configured to expose the captured image according to the first exposure duration to obtain a first captured image; exposing the shot image according to the second exposure duration to obtain a second shot image; and averaging the brightness values of the corresponding pixel points of the first shot image and the second shot image to obtain the target image.
Further, the camera comprises at least one of a forward-looking camera, a rear-looking camera, a left-looking camera or a right-looking camera of the unmanned aerial vehicle,
the exposure mode determining module is specifically used for exposing once according to the automatic exposure duration of the camera; then the process of the first step is carried out,
the target image acquisition module is specifically used for carrying out exposure according to the automatic exposure duration so as to obtain an initial image; and acquiring an exposure weight table, and performing weighted calculation on the brightness value of the initial image pixel point according to the exposure weight table to obtain the target image.
Further, the camera comprises a downward-looking camera of the unmanned aerial vehicle; then the process of the first step is carried out,
the exposure mode determination module is specifically configured to increase the exposure brightness of the camera and/or improve the exposure duration of the camera.
Further, the camera comprises an upward-looking camera of the unmanned aerial vehicle; then the process of the first step is carried out,
the exposure mode determination module is specifically configured to reduce the exposure brightness of the camera and/or reduce the exposure duration of the camera.
In a third aspect, an embodiment of the present invention further provides a shooting device, which is arranged on an unmanned aerial vehicle, and includes a front view camera, a rear view camera, a downward view camera, a left view camera, a right view camera, and an upward view camera;
the front-view camera, the rear-view camera, the left-view camera, the right-view camera and the upper-view camera adopt a first aperture lens;
the downward-looking camera adopts a second aperture lens; wherein the second aperture is larger than the first aperture;
the lens of the upward-looking camera is provided with a dimmer; the dimmer is used for reducing the light transmission quantity of the upward-looking camera.
In a fourth aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including a body, a horn connected to the body, and a power device disposed on the horn and/or the body, and the unmanned aerial vehicle further includes the shooting device according to the embodiment of the present invention, and the shooting device is disposed on the body of the unmanned aerial vehicle.
In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the image exposure method according to the embodiment of the present invention.
According to the embodiment of the invention, the visual angle of the camera in the unmanned aerial vehicle is firstly acquired, then the exposure mode of the image shot by the camera is determined according to the visual angle, and finally the image shot by the camera is controlled to be exposed according to the exposure mode so as to obtain the target image. According to the image exposure method provided by the embodiment of the invention, the exposure mode of the image shot by the camera is determined according to the visual angle of the camera in the unmanned aerial vehicle, so that the problem of overexposure or partial darkness of the image at different angles can be solved, and the quality of the image shot by the unmanned aerial vehicle is improved.
Drawings
Fig. 1a is a block diagram of an unmanned aerial vehicle according to a first embodiment of the present invention;
fig. 1b is a schematic view of a bottom view structure of an unmanned aerial vehicle provided with a shooting device according to a first embodiment of the present invention;
fig. 1c is a schematic view of a top view structure of an unmanned aerial vehicle provided with a shooting device in a first embodiment of the present invention;
FIG. 2 is a flowchart of an image exposure method according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of an image exposure apparatus according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1a is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1a, the drone 10 includes a processor 12, and a memory 14 connected to the processor 12, a fuselage 16, an arm 18, and a power plant 19. Wherein the body 16 is connected with the horn 18, and the motive device 19 is arranged on the body 16 and/or the horn 18. The body 16 is provided with a camera 166. The number of processors 12 in the drone 10 may be one or more, with one processor 12 being exemplified in fig. 1 a; the processor 12, memory 14, fuselage 16, horn 18, and power plant 19 in the drone 10 may be connected by a bus or other means, as exemplified by the bus connection in fig. 1 a.
Fig. 1b is a schematic view of a bottom view structure of the unmanned aerial vehicle provided with the photographing apparatus according to the first embodiment of the present invention, and fig. 1c is a schematic view of a top view structure of the unmanned aerial vehicle provided with the photographing apparatus according to the first embodiment of the present invention, and as shown in fig. 1b and fig. 1c, the photographing apparatus 166 includes a front view camera 1661, a rear view camera 1662, a left view camera 1663, a right view camera 1664, an upper view camera 1665, and a lower view camera 1666. The number of cameras at each visual angle is at least two.
Wherein, the front view camera 1661, the rear view camera 1662, the left view camera 1663, the right view camera 1664 and the top view camera 1665 adopt a first aperture lens; the downward-looking camera 1666 employs a second aperture lens; the second aperture is larger than the first aperture. Because the downward-looking camera 1666 faces the ground, the shot image is dark, and the downward-looking camera 1666 adopts a large-aperture lens, so that the input brightness of the image can be improved.
A lens of the top view camera 1665 is provided with a dimmer sheet; the dimmer is used to reduce the amount of light transmitted by the upward-looking camera 1665. Wherein, the light transmission brightness can be reduced by 20 to 50 percent. Since the top view camera 1665 is facing the sky, the high intensity sun illumination will cause the image to be overexposed, and the benefit of the dimmer is to prevent the image from being overexposed.
Fig. 2 is a flowchart of an image exposure method according to an embodiment of the present invention, where the embodiment is applicable to a case where shooting is performed by an unmanned aerial vehicle, and the method may be performed by an image exposure apparatus, where the apparatus may be an unmanned aerial vehicle installed with a shooting device. As shown in fig. 2, the method specifically includes the following steps:
and step 110, acquiring the visual angle of the camera in the unmanned aerial vehicle.
The viewing angles of the unmanned aerial vehicle 10 include six viewing angles of forward view, rear view, left view, right view, top view and bottom view, and cameras are all installed in six viewing angle directions, namely a forward view camera 1661, a rear view camera 1662, a left view camera 1663, a right view camera 1664, a top view camera 1665 and a bottom view camera 1666. The camera can shoot images of corresponding visual angles.
And step 120, determining an exposure mode of the image shot by the camera according to the visual angle.
In this embodiment, when the unmanned aerial vehicle 10 takes an aerial photograph, the front view camera 1661, the rear view camera 1662, the left view camera 1663, and the right view camera 1664 are all in the horizontal direction, and half of the photographed image is the ground and half is the sky; the upward looking camera 1665 is in the upward direction of the vertical horizon, and the image taken is the sky; downward looking camera 1666 is oriented vertically down the horizon and takes the image of the ground. Therefore, the cameras arranged in the unmanned aerial vehicle 10 can be divided into two types according to different viewing angles and directions, and each type corresponds to different shooting modes. The first type of camera comprises a front view camera 1661, a rear view camera 1662, a left view camera 1663 and a right view camera 1664, wherein the upper part of a shot image is a sky scene, and the lower part is a ground scene; the second type of camera includes a top view camera 1665 and a bottom view camera 1666, and an image shot by the top view camera 1665 is a sky scene; the image taken by the downward-looking camera 1666 is a ground scene.
The exposure mode comprises adjusting the exposure times, the exposure duration or the exposure brightness. Specifically, the exposure mode for adjusting the number of exposures is as follows: the exposure times of the camera can be set under the condition of a certain exposure duration. The exposure mode for adjusting the exposure time length is as follows: the exposure time period is increased or decreased. When the exposure time is long exposure, the light input quantity of the camera can be increased to collect details in an excessively dark image, and when the exposure time is short exposure, the light input quantity of the camera can be reduced to avoid excessively bright images. Optionally, when the exposure time is less than or equal to 3ms, the exposure is short exposure, and when the exposure time is greater than 3ms, the exposure is long exposure. The exposure mode for adjusting the exposure brightness may be to increase or decrease the gain parameter of the camera. The exposure brightness can also be adjusted through hardware improvement, such as: different apertures can be set to adjust the light transmission quantity of the camera, wherein the larger the aperture is, the more the light transmission quantity of the camera is; or, a dimmer can be added on the lens of the camera to reduce the light transmission quantity of the image shot by the camera.
For a first type of camera disposed in the drone 10: front view camera 1661, rear view camera 1662, left view camera 1663, and right view camera 1664. Optionally, the first type of camera may be controlled to shoot the image and expose the image according to an exposure mode of adjusting the exposure duration and the exposure times. Illustratively, the exposure is performed in an exposure manner in which two exposures are consecutively performed for a first exposure period and a second exposure period. Specifically, the first exposure time period is smaller than the second exposure time period. The first exposure duration can be understood as a short exposure and the second exposure duration can be understood as a long exposure, for example, the first exposure duration is 2ms and the second exposure duration is 10 ms.
Optionally, for the first type of camera provided in the drone 10: the front view camera 1661, the rear view camera 1662, the left view camera 1663 and the right view camera 1664, and the first type camera can also be controlled to shoot images to be exposed in an exposure mode of exposing once according to the automatic exposure duration. The automatic exposure duration is the exposure value of a shot picture measured by the camera according to the photometric system, and the shutter speed is automatically set.
For the second type of camera provided in the drone 10: the top view camera 1665 and the bottom view camera 1666 may optionally control the second type camera to take images for exposure according to the exposure mode of adjusting the exposure brightness and/or the exposure duration. For the top-view camera 1665, the exposure brightness of the top-view camera 1665 may be decreased and/or the exposure duration of the top-view camera 1665 may be decreased, so as to avoid overexposure of the top-view camera 1665 due to the sun's altitude when the top-view camera 1665 captures the sky scene image; for the down-view camera 1666, the amount of light passing through the image captured by the down-view camera 1666 can be increased by increasing the exposure brightness of the down-view camera 1666 and/or increasing the exposure duration of the down-view camera 1666 to capture details in an overly dark image.
And step 130, controlling the camera to shoot the image and expose according to an exposure mode so as to obtain a target image.
Furthermore, the images shot by the cameras with different visual angles are exposed according to different exposure modes to obtain a clearer target image.
Optionally, for the first type of camera provided in the drone 10: front view camera 1661, rear view camera 1662, left view camera 1663, and right view camera 1664. Optionally, when an exposure mode of adjusting the exposure duration and the exposure times is adopted, the shot image is exposed according to the first exposure duration to obtain a first shot image, the shot image is exposed according to the second exposure duration to obtain a second shot image, and the brightness values of the corresponding pixel points of the first shot image and the second shot image are averaged to obtain the target image.
Specifically, a first shot image is obtained after exposure is carried out on the shot image according to a first exposure duration (such as 2ms), and the brightness value of a corresponding first pixel point is Ys(ii) a Exposing the shot image according to a second exposure duration (such as 10ms) to obtain a second shot image, wherein the brightness value of a corresponding second pixel point is YhAnd after the first pixel point brightness value and the second pixel point brightness value are superposed, averaging to obtain an output target frame image.
Yhdr＝(Ys+Yh)/2
Optionally, for the first type of camera provided in the drone 10: front view camera 1661, rear view camera 1662, left view camera 1663, and right view camera 1664. When an exposure mode of exposing once according to the automatic exposure duration is adopted, the process of obtaining the target image after controlling the camera to shoot the image and exposing according to the exposure mode can be as follows: exposing according to the automatic exposure duration to obtain an initial image; and then acquiring an exposure weight table, and carrying out weighted calculation on the brightness values of the pixels of the initial image according to the exposure weight table to obtain a target image.
Wherein, the exposure weight table can be set according to the shooting environment and the hardware parameters of the camera. For example, the front view camera 1661, the rear view camera 1662, the left view camera 1663, and the right view camera 1664 disposed in the drone 10 may all employ an exposure weight table as shown in table 1. And each weight value in the exposure weight table corresponds to a pixel point at a corresponding position of the shot image. The higher the exposure weight value, the higher the brightness of the image representing the corresponding area needs to be adjusted. For the middle part of the image, which is the area most concerned by the user, the weight value corresponding to the middle area of the image is set to be the highest in the exposure weight table. In the obtained initial image, since the brightness of the ground area image is obviously lower than that of the sky area image, in the exposure weight table, the exposure weight corresponding to the sky area may be set to be the lowest, and the weight value corresponding to the ground area may be set to be next to the weight value of the middle area.
TABLE 1 Exposure weighting Table
| 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 2 | 2 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 2 | 3 | 3 | 2 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 2 | 3 | 3 | 3 | 3 | 2 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 2 | 3 | 3 | 4 | 4 | 3 | 3 | 2 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 1 | 1 | 2 | 2 | 3 | 4 | 5 | 5 | 4 | 3 | 2 | 2 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 1 | 1 | 2 | 3 | 4 | 5 | 5 | 5 | 5 | 4 | 3 | 2 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 1 | 2 | 2 | 3 | 4 | 5 | 5 | 5 | 5 | 4 | 3 | 2 | 2 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 1 | 2 | 2 | 3 | 4 | 4 | 5 | 5 | 5 | 5 | 4 | 4 | 3 | 2 | 2 | 1 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 1 | 2 | 2 | 3 | 3 | 4 | 4 | 5 | 5 | 5 | 5 | 4 | 4 | 3 | 3 | 2 | 2 | 1 | 1 | 1 | 1 |
| 1 | 1 | 1 | 2 | 2 | 3 | 3 | 4 | 4 | 4 | 4 | 5 | 5 | 4 | 4 | 4 | 4 | 3 | 3 | 2 | 2 | 1 | 1 | 1 |
| 1 | 1 | 2 | 2 | 3 | 3 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 3 | 3 | 2 | 2 | 1 | 1 |
| 1 | 1 | 2 | 3 | 3 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 3 | 3 | 2 | 1 | 1 |
| 1 | 2 | 3 | 3 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 3 | 3 | 2 | 1 |
| 2 | 3 | 3 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 3 | 3 | 2 |
And calculating to obtain the brightness value of the corresponding pixel point in the target image according to the obtained brightness value of the pixel point of the initial image and the weight value in the corresponding exposure weight table.
Optionally, the obtained brightness value of the pixel point of the initial image and the weight value in the corresponding exposure weight table may be directly added to obtain the brightness value of the corresponding pixel point in the target image. Exemplarily, assuming that the brightness value of the pixel point of the obtained initial image is a, and the weight value in the exposure weight table is set to be 1, the brightness value of the pixel point corresponding to the target image is calculated as follows: a + 1.
Optionally, the obtained pixel point brightness value of the initial image and the weight value in the corresponding exposure weight table may be added and then multiplied by a preset coefficient to obtain the corresponding pixel point brightness value in the target image. Exemplarily, assuming that the luminance value of a pixel point of the obtained initial image is a, and the weight value in the exposure weight table is set to be 1 correspondingly, the luminance value of the pixel point of the initial image is weighted according to the exposure weight table, and the luminance value of the pixel point corresponding to the target image is obtained as: (a +1) · δ, wherein δ is a constant in the real number range of 1-2.
For the second type of camera provided in the drone 10: a top view camera 1665 and a bottom view camera 1666. Optionally, when an exposure mode is adopted to adjust the exposure duration, the image captured by the top view camera 1665 may be exposed in a short exposure (e.g., 2ms) mode, so as to obtain a target image with a small amount of light flux; the image captured by the downward-looking camera 1666 can be exposed with a long exposure (e.g., 10ms) to obtain a target image with a large amount of light flux. When an exposure mode of adjusting the exposure brightness is adopted, the upward-looking camera 1665 may reduce the exposure brightness by adopting the first aperture and/or setting the dimmer, thereby obtaining a target image with a small amount of light transmission; the down-view camera 1666 may increase the exposure brightness by taking a second aperture larger than the first aperture value to obtain a target image with a large amount of light flux.
According to the embodiment of the invention, the visual angle of the camera in the unmanned aerial vehicle is firstly acquired, then the exposure mode of the image shot by the camera is determined according to the visual angle, and finally the image shot by the camera is controlled to be exposed according to the exposure mode so as to obtain the target image. According to the image exposure method provided by the embodiment of the invention, the exposure mode of the image shot by the camera is determined according to the visual angle of the camera in the unmanned aerial vehicle, so that the problem of overexposure or partial darkness of the image at different angles can be solved, and the quality of the image shot by the unmanned aerial vehicle is improved.
Example two
Fig. 3 is a schematic structural diagram of an image exposure apparatus according to a second embodiment of the present invention. The image exposure apparatus includes:
a view angle acquiring module 210, configured to acquire a view angle of the camera in the unmanned aerial vehicle;
an exposure mode determining module 220, configured to determine an exposure mode for an image captured by the camera according to the viewing angle;
and the target image obtaining module 230 is configured to control the camera to shoot an image and expose the image according to the exposure mode to obtain a target image.
According to the embodiment of the invention, the visual angle of the camera in the unmanned aerial vehicle is firstly acquired, then the exposure mode of the image shot by the camera is determined according to the visual angle, and finally the image shot by the camera is controlled to be exposed according to the exposure mode so as to obtain the target image. According to the image exposure method provided by the embodiment of the invention, the exposure mode of the image shot by the camera is determined according to the visual angle of the camera in the unmanned aerial vehicle, so that the problem of overexposure or partial darkness of the image at different angles can be solved, and the quality of the image shot by the unmanned aerial vehicle is improved.
Optionally, the camera includes at least one of a forward-looking camera, a rear-looking camera, a left-looking camera, or a right-looking camera of the unmanned aerial vehicle, then, the exposure mode determination module 220 is specifically configured to:
and continuously exposing twice according to the first exposure duration and the second exposure duration, wherein the first exposure duration is less than the second exposure duration.
Then, the target image obtaining module 230 is specifically configured to:
exposing the shot image according to a first exposure duration to obtain a first shot image;
exposing the shot image according to a second exposure duration to obtain a second shot image;
and averaging the brightness values of the corresponding pixel points of the first shot image and the second shot image to obtain a target image.
Optionally, the camera includes at least one of a forward-looking camera, a rear-looking camera, a left-looking camera, or a right-looking camera of the unmanned aerial vehicle, and then the exposure mode determination module 220 is further configured to:
and exposing once according to the automatic exposure duration of the camera.
Then, the target image acquisition module 230 is further configured to:
exposing according to the automatic exposure duration to obtain an initial image;
and acquiring an exposure weight table, and performing weighted calculation on the brightness values of the pixels of the initial image according to the exposure weight table to obtain a target image.
Optionally, the camera includes an under-view camera of the unmanned aerial vehicle, and then, the exposure mode determination module 220 is specifically configured to: the exposure brightness of the camera is increased and/or the exposure time of the camera is prolonged.
Optionally, the camera includes an upward-looking camera of the unmanned aerial vehicle, and then, the exposure mode determination module 220 is specifically configured to: the exposure brightness of the camera is reduced and/or the exposure time of the camera is reduced.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For details not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the present invention.
EXAMPLE III
A third embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method of image exposure, the method comprising:
acquiring a visual angle of a camera in the unmanned aerial vehicle;
determining an exposure mode of an image shot by a camera according to the visual angle;
and controlling the camera to shoot the image and expose according to an exposure mode so as to obtain a target image.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the image exposure method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the image exposure apparatus, the modules included in the embodiment are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, the specific names of the functional modules are only for convenience of distinguishing from each other and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. An image exposure method for unmanned aerial vehicles, comprising:
acquiring a visual angle of a camera in the unmanned aerial vehicle;
determining an exposure mode of an image shot by the camera according to the visual angle;
and adjusting the aperture of the camera or/and setting the dimmer of the camera to expose according to the exposure mode so as to obtain a target image.
2. The method of claim 1, wherein the cameras comprise a downward-looking camera and an upward-looking camera of the drone, and the determining an exposure mode for the camera to capture the image according to the viewing angle comprises:
increasing the exposure brightness of the downward-looking camera and/or improving the exposure duration of the camera;
and reducing the exposure brightness of the upward-looking camera and/or reducing the exposure time of the camera.
3. The method according to claim 2, wherein when an exposure mode for adjusting the exposure brightness is adopted, the adjusting of the aperture of the camera and/or the setting of the dimmer of the camera to perform exposure according to the exposure mode to obtain the target image comprises:
the upward-looking camera reduces the exposure brightness by adopting a first aperture and/or arranging a dimmer so as to obtain a target image with low light transmission quantity;
the downward-looking camera increases the exposure brightness by adopting a second aperture larger than the first aperture value to obtain a target image with a large light transmission amount.
4. The method of claim 1, wherein the camera comprises at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the drone, and the determining the exposure mode of the camera to capture the image according to the viewing angle comprises:
exposing once according to the automatic exposure duration of the camera; then the process of the first step is carried out,
adjusting the aperture of the camera or/and setting the dimmer of the camera to expose according to the exposure mode to obtain a target image, comprising:
exposing according to the automatic exposure duration to obtain an initial image;
acquiring an exposure weight table, and performing weighted calculation on the brightness value of the initial image pixel point according to the exposure weight table to obtain the target image;
adding the obtained pixel point brightness value of the initial image and the weight value in the corresponding exposure weight table, and then multiplying the sum by a preset coefficient to obtain the corresponding pixel point brightness value in the target image;
and the exposure weight table is set according to the shooting environment and the camera hardware parameters.
5. The method of claim 1, wherein the camera comprises at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the drone, and the determining the exposure mode of the camera to capture the image according to the viewing angle comprises:
continuously exposing for two times according to a first exposure duration and a second exposure duration, wherein the first exposure duration is smaller than the second exposure duration; then the process of the first step is carried out,
the controlling the camera to shoot the image and expose according to the exposure mode to obtain the target image comprises:
exposing the shot image according to the first exposure duration to obtain a first shot image;
exposing the shot image according to the second exposure duration to obtain a second shot image;
and averaging the brightness values of the corresponding pixel points of the first shot image and the second shot image to obtain the target image.
6. A shooting device is characterized by being arranged on an unmanned aerial vehicle and comprising a front-view camera, a rear-view camera, a downward-view camera, a left-view camera, a right-view camera and an upward-view camera;
the front-view camera, the rear-view camera, the left-view camera, the right-view camera and the upper-view camera adopt a first aperture lens;
the downward-looking camera adopts a second aperture lens; wherein the second aperture is larger than the first aperture;
the lens of the upward-looking camera is provided with a dimmer, and the dimmer is used for reducing the light transmission quantity of the upward-looking camera;
the photographing apparatus including the image exposure method according to any one of claims 1 to 5.
7. An unmanned aerial vehicle, includes the fuselage, with the horn that the fuselage links to each other and locate the power device of horn and/or fuselage, its characterized in that, unmanned aerial vehicle still includes claim 6 shooting equipment, shooting equipment locates unmanned aerial vehicle's fuselage.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the image exposure method according to any one of claims 1 to 5.
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| CN112335228A (en) * | 2019-11-22 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Image processing method, image acquisition device, movable platform and storage medium |
| WO2021184239A1 (en) * | 2020-03-18 | 2021-09-23 | 深圳市大疆创新科技有限公司 | Exposure method and apparatus, photographing device, movable platform, and storage medium |
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