CN115883969B - Unmanned aerial vehicle shooting method, unmanned aerial vehicle shooting device, unmanned aerial vehicle shooting equipment and unmanned aerial vehicle shooting medium - Google Patents
Unmanned aerial vehicle shooting method, unmanned aerial vehicle shooting device, unmanned aerial vehicle shooting equipment and unmanned aerial vehicle shooting medium Download PDFInfo
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Abstract
The application relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle shooting method, device, equipment and medium. The method comprises the following steps: receiving a shooting instruction, wherein the shooting instruction at least comprises longitude and latitude and shooting frequency of a destination to be shot and a preset image, and the preset image represents a historical shooting image corresponding to the destination to be shot; acquiring the current longitude and latitude; judging whether the current longitude and latitude are the same as the longitude and latitude of the destination to be shot; if the images are the same, acquiring a shooting image, and determining a shooting angle according to the shooting image and a preset image; acquiring a first shooting image, wherein the first shooting image is an image obtained by shooting at the longitude and latitude and the shooting angle of a destination to be shot; determining a shooting height according to the first shooting image and a preset image; and controlling the image pickup unit to pick up according to the shooting height and the shooting frequency so as to obtain a target image picked up by the image pickup unit. The effect of this application: the accuracy of unmanned aerial vehicle shooting image has been improved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle shooting method, device, equipment and medium.
Background
The unmanned aerial vehicle is abbreviated as 'unmanned aerial vehicle', english abbreviation is 'UAV' (Unmanned Aerial Vehicle), and the unmanned aerial vehicle is remotely operated. At present, along with unmanned aerial vehicle cost reduction, unmanned aerial vehicle gets into civilian field gradually. The unmanned aerial vehicle can be provided with the shooting device, aerial photographing is carried out through the remote control unmanned aerial vehicle, a brand new shooting angle is provided for a user, and the unmanned aerial vehicle can be suitable for shooting a human image or a landscape.
The method for controlling the change of the shooting environment of the unmanned aerial vehicle in the related technology is that a user controls the unmanned aerial vehicle by using a screw or a mobile phone, when the unmanned aerial vehicle reaches a historical shooting position, the unmanned aerial vehicle is used for carrying out annular shooting, and the unmanned aerial vehicle is controlled to shoot according to the shot picture and the general indication direction of a mobile phone screen compass. But in the shooting process, the user cannot accurately control the unmanned aerial vehicle to reach the accurate shooting height and determine the accurate shooting angle, so that the shot image is unclear.
Therefore, how to accurately shoot images by using the unmanned aerial vehicle is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In order to improve accuracy of images shot by unmanned aerial vehicles, the application provides an unmanned aerial vehicle shooting method, device, equipment and medium.
In a first aspect, the present application provides an unmanned aerial vehicle shooting method, which adopts the following technical scheme:
an unmanned aerial vehicle shooting method, comprising:
receiving a shooting instruction, wherein the shooting instruction at least comprises longitude and latitude and shooting frequency of a destination to be shot and a preset image, and the preset image represents a historical shooting image corresponding to the destination to be shot;
acquiring the current longitude and latitude;
judging whether the current longitude and latitude are the same as the longitude and latitude of the destination to be shot;
if the images are the same, acquiring a shooting image, and determining a shooting angle according to the shooting image and a preset image;
acquiring a first shooting image, wherein the first shooting image is an image obtained by shooting at the longitude and latitude of a destination to be shot and the shooting angle;
determining a shooting height according to the first shooting image and a preset image;
and controlling the image capturing unit to capture according to the capturing height and the capturing frequency so as to obtain a target image captured by the image capturing unit.
Through adopting above-mentioned technical scheme, judge through the longitude and latitude of waiting to shoot the destination in the instruction according to receiving shooting and the current longitude and latitude that acquires, if the same, then acquire the shooting image that waiting to shoot the destination's longitude and latitude corresponds, and confirm shooting angle according to the historical shooting image that shooting image and waiting to shoot the destination and correspond, and then, after adjusting shooting angle, acquire the first shooting image of shooting at waiting to shoot the longitude and latitude shooting angle of destination shooting, and confirm shooting height according to first shooting image and preset image, at this moment, the accurate shooting angle and the shooting height the same with preset image of having confirmed, and then shoot according to shooting height and the shooting frequency control shooting unit in the instruction, in order to obtain the target image that the shooting unit shot, avoided the unable accurate control unmanned aerial vehicle of user to arrive accurate shooting height and confirm accurate shooting angle, lead to the inaccurate problem of shooting image, the accuracy of unmanned aerial vehicle shooting image has been improved.
The present application may be further configured in a preferred example to: the determining the shooting height according to the shooting image and the preset image comprises the following steps:
extracting features of the shot images to obtain feature points;
extracting a preset image to obtain target feature points;
and determining a shooting angle according to the target characteristic points and the characteristic points.
By adopting the technical scheme, the shooting angle is determined according to the feature points obtained after feature extraction of the shooting image and the target feature points obtained after feature extraction of the preset image, so that the accuracy of calculating the shooting angle is improved.
The present application may be further configured in a preferred example to: the determining the shooting height according to the first shooting image and the preset image includes:
extracting an interested region from the first shooting image to obtain a region image;
calculating according to the region image to obtain the region image area;
extracting an interested region from a preset image to obtain a target region image, and calculating the area of the target region image according to the target region image;
calculating according to the area of the area image and the area of the target area image to obtain an area ratio;
Acquiring the current height;
and determining the shooting height according to the current height and area ratio.
By adopting the technical scheme, the region image is obtained by extracting the region of interest from the first shooting image, the region image area is obtained by calculation, the target region image is obtained by extracting the region of interest from the preset image, the target region image area is obtained by calculation, the area proportion is obtained by calculation according to the region image area and the target region image area, the shooting height is obtained by calculation according to the area proportion and the current height, the shooting height is determined by calculation according to the area proportion and the current height, and the accuracy of calculating the shooting height is improved.
The present application may be further configured in a preferred example to: after the shooting height is determined according to the first shooting image and a preset image, the method further comprises the following steps:
shooting according to the shooting height and the shooting angle to obtain an initial target image;
performing similarity calculation according to the initial target image and a preset image to obtain a similarity value;
and if the similarity value is larger than a preset similarity threshold value, executing the step of controlling the shooting unit to shoot according to the shooting height and the shooting frequency so as to obtain a target image shot by the shooting unit.
Through adopting above-mentioned technical scheme, through carrying out the similarity calculation to initial target image and the image of predetermineeing that is obtained according to shooting height and shooting angle, obtain the similarity value, if the similarity value is greater than the threshold value of predetermineeing the similarity, confirm that shooting height and shooting angle are accurate, carry out the step of shooting according to shooting height and shooting frequency control camera unit, in order to obtain the target image that the camera unit took, shoot according to target shooting height and target shooting angle and shooting frequency, verify through initial target image and the image of predetermineeing that obtains according to shooting angle and shooting height, unmanned aerial vehicle shooting image's accuracy has been improved.
The present application may be further configured in a preferred example to: the step of calculating the similarity according to the initial target image and a preset image to obtain a similarity value comprises the following steps:
performing image processing on the preset image to obtain a simplified preset image, wherein the image processing comprises: size reduction and color simplification;
carrying out hash value calculation according to the simplified preset image to obtain a simplified preset image fingerprint;
performing image processing on the initial target image to obtain a simplified initial target image;
Performing hash value calculation according to the simplified initial target image to obtain a simplified initial target image fingerprint;
and calculating according to the simplified preset image fingerprint and the simplified initial target image fingerprint to obtain a similarity value.
By adopting the technical scheme, the simplified preset image and the simplified initial target image are obtained by performing image processing on the preset image and the initial target image, hash value calculation is performed according to the simplified preset image, a simplified preset image fingerprint is obtained, hash value calculation is performed according to the simplified initial target image, a simplified initial target image fingerprint is obtained, similarity value is obtained by performing calculation according to the simplified preset image fingerprint and the simplified initial target image fingerprint, hash value calculation is performed respectively on the simplified preset image and the simplified initial target image, and calculation is performed according to the simplified preset image fingerprint and the simplified initial target image fingerprint, so that the similarity value is obtained, and the accuracy of a similarity calculation result is improved.
The present application may be further configured in a preferred example to: after the judging whether the current longitude and latitude are the same as the longitude and latitude of the destination to be shot, the method further comprises:
If not, acquiring shooting modes, wherein the shooting modes comprise: cruise shooting mode or individual shooting mode;
judging whether the shooting mode is a cruising shooting mode or not;
if the shooting mode is a cruise shooting mode, determining a shooting route according to a destination to be shot and the current longitude and latitude;
and cruising shooting is carried out according to the shooting route.
Through adopting above-mentioned technical scheme, if current longitude and latitude are different with the longitude and latitude of waiting to shoot the destination, then judge whether the shooting mode of acquireing is cruise shooting mode, if the shooting mode is cruise shooting mode, then confirm the shooting route according to waiting to shoot destination and current longitude and latitude, carry out cruise shooting according to the shooting route, through judging whether the shooting mode of acquireing is cruise shooting mode, and confirm the shooting route according to waiting to shoot destination and current longitude and latitude, avoided the control link that the user participated in unmanned aerial vehicle shooting, improved unmanned aerial vehicle shooting's intellectuality.
The present application may be further configured in a preferred example to: after the shooting route is determined according to the destination to be shot and the current longitude and latitude, the method further comprises the following steps:
acquiring a highest height value in the shooting route according to the shooting route;
Acquiring the current shooting height;
judging whether the current shooting height is larger than a highest height value or not;
if not, acquiring the longitude and latitude of the highest height value;
and generating reminding information according to the longitude and latitude of the highest height value and reminding.
Through adopting above-mentioned technical scheme, through the high maximum value in the shooting route according to shooting route, when the current shooting height of acquireing is not greater than high maximum value, acquire the longitude and latitude of high maximum value, generate the warning information and remind according to the longitude and latitude of high maximum value, through judging high maximum value and the current shooting height of acquireing, if the current shooting height is not greater than high maximum value, in time generate the warning information and remind, improved unmanned aerial vehicle and cruises the security of shooting.
In a second aspect, the present application provides an unmanned aerial vehicle shooting device, which adopts the following technical scheme:
an unmanned aerial vehicle photographing device, comprising:
and a receiving module: receiving a shooting instruction, wherein the shooting instruction at least comprises longitude and latitude and shooting frequency of a destination to be shot and a preset image, and the preset image represents a historical shooting image corresponding to the destination to be shot;
And a second acquisition module: the method is used for acquiring the current longitude and latitude;
and a judging module: the method is used for judging whether the current longitude and latitude are the same as the longitude and latitude of the destination to be shot;
and a third acquisition module: if the images are the same, acquiring a shooting image, and determining a shooting angle according to the shooting image and a preset image;
a fourth acquisition module: the method comprises the steps of acquiring a first shooting image, wherein the first shooting image is an image obtained by shooting at the longitude and latitude of a destination to be shot and the shooting angle;
shooting height determining module: the camera is used for determining the shooting height according to the first shooting image and a preset image;
and a shooting module: and the camera unit is used for controlling the camera unit to shoot according to the shooting height and the shooting frequency so as to obtain a target image shot by the camera unit.
In a third aspect, the present application provides an electronic device, which adopts the following technical scheme:
at least one processor;
a memory;
at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: and executing the unmanned aerial vehicle shooting method.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
A computer-readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the unmanned aerial vehicle photographing method described above.
In summary, the present application includes at least one of the following beneficial technical effects:
judging according to the longitude and latitude of the destination to be shot in the received shooting instruction and the acquired current longitude and latitude, if the longitude and latitude of the destination to be shot are the same, acquiring a shooting image corresponding to the longitude and latitude of the destination to be shot, determining a shooting angle according to a historical shooting image corresponding to the shooting image and the destination to be shot, further, after adjusting the shooting angle, acquiring a first shooting image shot by the shooting angle of the longitude and latitude of the destination to be shot, determining the shooting height according to the first shooting image and a preset image, at the moment, accurately determining the shooting angle and the shooting height which are the same as the preset image, and further controlling the shooting unit to shoot according to the shooting height and the shooting frequency in the receiving instruction, so that a target image shot by the shooting unit is acquired, the problem that a user cannot accurately control the unmanned aerial vehicle to reach the accurate shooting height and determine the accurate shooting angle, and the shooting image is inaccurate is avoided, and the accuracy of the shooting image is improved.
Drawings
Fig. 1 is a schematic flow chart of a shooting method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle photographing device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below in conjunction with fig. 1-3.
The present embodiment is merely illustrative of the present application and is not intended to be limiting, and those skilled in the art, after having read the present specification, may make modifications to the present embodiment without creative contribution as required, but is protected by patent laws within the scope of the claims of the present application.
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.
The method for controlling the change of the shooting environment of the unmanned aerial vehicle in the related technology is that a user controls the unmanned aerial vehicle by using a screw or a mobile phone, when the unmanned aerial vehicle reaches a historical shooting position, the unmanned aerial vehicle is used for carrying out annular shooting, and the unmanned aerial vehicle is controlled to shoot according to the shot picture and the general indication direction of a mobile phone screen compass. But in the shooting process, the user cannot accurately control the unmanned aerial vehicle to reach the accurate shooting height and determine the accurate shooting angle, so that the shot image is unclear.
In order to solve the technical problems, the application provides an unmanned aerial vehicle shooting method, device, equipment and medium, judge according to the longitude and latitude of a destination to be shot in a received shooting instruction and the acquired current longitude and latitude, if the longitude and latitude of the destination to be shot are the same, acquire shooting images corresponding to the longitude and latitude of the destination to be shot, and determine shooting angles according to historical shooting images corresponding to the shooting images and the destination to be shot, further, after adjusting the shooting angles, acquire a first shooting image shot at the shooting angles of the longitude and latitude of the destination to be shot, determine shooting heights according to the first shooting image and preset images, at the moment, accurately determine the shooting angles and the shooting heights identical to the preset images, and further control a shooting unit to shoot according to the shooting heights and shooting frequencies in the receiving instruction, so that a target image shot by the shooting unit is obtained, the problem that a user cannot accurately control the unmanned aerial vehicle to reach accurate shooting heights and determine the accurate shooting angles, and the shooting images are inaccurate is solved, and the shooting image shooting accuracy of the unmanned aerial vehicle is improved.
Referring to fig. 1, fig. 1 is a schematic flow chart of a shooting method of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 1, the method includes step S101, step S102, step S103, step S104, step S105, step S106, and step S107, wherein:
step S101, receiving a shooting instruction, where the shooting instruction at least includes longitude and latitude and shooting frequency of a destination to be shot and a preset image, and the preset image represents a historical shooting image corresponding to the destination to be shot.
The electronic equipment is connected with the control console, and the control console can automatically generate shooting instructions according to longitude and latitude input by a user, shooting frequency and preset images and send the shooting instructions to the electronic equipment. After the electronic equipment acquires the shooting instruction, the longitude and latitude and the shooting frequency of the destination to be shot are obtained by analyzing the shooting instruction.
The history shooting image is image information of history shooting of a destination to be shot.
Step S102, acquiring the current longitude and latitude.
The current longitude and latitude are the longitude and latitude of the current position of the unmanned aerial vehicle, and in the embodiment of the application, the method for obtaining the current longitude and latitude can be determined by using a GPS (Global Positioning System ).
Step S103, judging whether the current longitude and latitude are the same as the longitude and latitude of the destination to be shot.
In this embodiment of the present application, if the current longitude and latitude are the same as the longitude and latitude of the destination to be shot, it is determined that the unmanned aerial vehicle arrives at the destination to be shot, if the current longitude and latitude are different from the longitude and latitude of the destination to be shot, it is determined that the unmanned aerial vehicle does not arrive at the shooting position, and further, a movement instruction is generated according to the longitude and latitude of the destination to be shot, and the electronic device controls the unmanned aerial vehicle to move according to the movement instruction.
Step S104, if the images are the same, acquiring the shot images, and determining shooting angles according to the shot images and the preset images.
If the current longitude and latitude are the same as the longitude and latitude of the destination to be shot, determining that the unmanned aerial vehicle reaches the shooting position, automatically generating a temporary shooting instruction, and controlling the shooting unit to shoot by the electronic equipment according to the temporary shooting instruction to obtain a shooting image.
In this embodiment of the present application, the method for determining the shooting angle according to the shot image and the preset image may be performing feature extraction on the shot image to obtain feature points, performing feature extraction on the preset image to obtain target feature points, and determining the shooting angle according to the target feature points and the feature points.
Step S105, acquiring a first shot image, where the first shot image is an image obtained by shooting at the longitude and latitude and the shooting angle of the destination to be shot.
After the shooting angle is determined, the electronic device controls the shooting unit to adjust according to the shooting angle, and after the adjustment is completed, the shooting unit shoots to obtain a first shooting image and sends the first shooting image to the electronic device.
Step S106, determining the shooting height according to the first shooting image and the preset image.
After the first shot image is determined, the pixel proportion can be determined according to the first shot image and the preset image, and then the shooting height can be determined according to the pixel proportion and the current height. The pixel proportion can be determined according to the shooting range of the first shooting image and the preset image, the first shooting image can be subjected to region of interest extraction, the pixel area of a certain region of interest is determined, the preset image is subjected to region of interest extraction, the target area is determined, and the pixel proportion is determined according to the pixel area and the target area. Wherein the photographing range is an actual area of the first photographed image.
Step S107, controlling the image capturing unit to capture according to the capturing height and the capturing frequency so as to obtain a target image captured by the image capturing unit.
The shooting frequency is determined by analyzing shooting instructions, the shooting frequency refers to the number of images shot every minute, after the shooting height is determined, the arrival position of the unmanned aerial vehicle is controlled according to the shooting height, and shooting is carried out according to the shooting frequency, so that a target image is obtained.
In the embodiment of the application, the longitude and latitude of the destination to be shot in the receiving shooting instruction are judged with the acquired current longitude and latitude, if the longitude and latitude of the destination to be shot are the same, the shooting image corresponding to the longitude and latitude of the destination to be shot is acquired, the shooting angle is determined according to the historical shooting image corresponding to the shooting image and the destination to be shot, further, after the shooting angle is adjusted, the first shooting image shot at the longitude and latitude shooting angle of the destination to be shot is acquired, the shooting height is determined according to the first shooting image and the preset image, at the moment, the shooting angle and the shooting height which are the same as the preset image are accurately determined, and then the shooting unit is controlled to shoot according to the shooting height and the shooting frequency in the receiving instruction, so that the target image shot by the shooting unit is obtained, the problem that a user cannot accurately control the unmanned aerial vehicle to reach the accurate shooting height and determine the accurate shooting angle, and the shooting image is inaccurate is caused is avoided, and the accuracy of the shooting image of the unmanned aerial vehicle is improved.
In one possible implementation manner of the embodiment of the present application, determining a shooting height according to a shooting image and a preset image includes:
extracting features of the shot images to obtain feature points;
extracting a preset image to obtain target feature points;
and determining the shooting angle according to the target characteristic points and the characteristic points.
The feature points are points with obvious features in the shot image, and can be a certain tree with a mark, a certain signal tower with a mark and the like, and after the feature points are determined, the target feature points are determined in the preset image according to the feature points. In this embodiment of the present application, the method for determining the shooting angle according to the target feature point and the feature point is not determined, may be determined according to a projection method, may also be determined according to a triangle similarity algorithm, specifically, may determine the pixel height of the feature point according to the feature point, determine the pixel height of the target feature point according to the target feature point, and determine the shooting angle according to the pixel height of the feature point and the pixel height of the target feature point.
In the embodiment of the application, the shooting angle is determined according to the feature points obtained after feature extraction of the shooting image and the target feature points obtained after feature extraction of the preset image, so that the accuracy of calculating the shooting angle is improved.
In one possible implementation manner of the embodiment of the present application, determining a shooting height according to a first shot image and a preset image includes:
extracting a region of interest from the first shot image to obtain a region image;
calculating according to the region image to obtain the region image area;
extracting an interested region from a preset image to obtain a target region image, and calculating the area of the target region image according to the target region image;
calculating to obtain an area ratio according to the area of the area image and the area of the target area image;
acquiring the current height;
and determining the shooting height according to the current height and area ratio.
The electronic device controls the unmanned aerial vehicle to shoot after receiving the first shooting height, but the method for manually calculating the shooting height is low in efficiency and consumes a large amount of effort of related personnel, and a large amount of time is wasted when calculating errors.
The region of interest may be a unique region marked in advance by a user, and the first shot image and the preset image have regions of a complete region image at the same time, the region image and the target region image are extracted from the first shot image and the preset image by using a region of interest algorithm, the region image area and the target region image area are determined, and then the area ratio is determined according to the image area and the target region image area, wherein the region image area and the target region image area are pixel areas of the images corresponding to each other. Wherein, since the photographing height is in a direct proportional relation with the image area, the photographing height can be determined according to the area ratio and the acquired current height.
The algorithm for extracting the region of interest is not limited in the embodiment of the present application, and may be any one of ROI (region of interest ) algorithm and FCM (fuzzy C-means) algorithm.
In the embodiment of the application, the region image is obtained by extracting the region of interest from the first shooting image, the region image area is obtained by calculation, the target region image is obtained by extracting the region of interest from the preset image, the target region image area is obtained by calculation, the area ratio is obtained by calculation according to the region image area and the target region image area, the shooting height is obtained by calculation according to the area ratio and the current height, the shooting height is determined by calculation of the first shooting image and the preset image, and the accuracy of the calculated shooting height is improved.
In one possible implementation manner of the embodiment of the present application, after determining the shooting height according to the first shot image and the preset image, the method further includes:
shooting according to the shooting height and the shooting angle to obtain an initial target image;
performing similarity calculation according to the initial target image and a preset image to obtain a similarity value;
and if the similarity value is larger than the preset similarity threshold value, executing the step of controlling the image capturing unit to capture according to the capturing height and the capturing frequency so as to obtain the target image captured by the image capturing unit.
The embodiment of the application provides an image verification method, after determining a shooting height and a shooting angle, an initial target image is obtained through shooting, whether the shooting angle and the shooting height are accurate or not is judged according to the initial target image and a preset image, and if so, a step of controlling an image pickup unit to conduct shooting according to the shooting height and the shooting frequency to obtain the target image shot by the image pickup unit is executed.
In the embodiment of the application, the method for judging whether the shooting angle and the shooting height are accurate according to the initial target image and the preset image is to calculate the similarity between the initial target image and the preset image to obtain a similarity value, judge whether the similarity value is larger than a preset similarity threshold value, and if the similarity value is larger than the preset similarity threshold value, determine that the shooting height is the target shooting height and determine that the shooting angle is the target shooting angle; if the similarity value is not greater than the preset similarity threshold value, determining that the shooting height and the shooting angle are inaccurate, and recalculating the shooting height and the shooting angle by the initial target image and the preset image. The similarity calculation method is not limited in the embodiment of the application, and may be any one of a jaccard similarity coefficient algorithm, a cosine similarity algorithm and a pearson correlation coefficient algorithm. The embodiment of the application does not limit the preset similarity threshold, and the user can customize the setting according to actual requirements.
In the embodiment of the application, the similarity value is obtained by calculating the similarity between the initial target image obtained by shooting according to the shooting height and the shooting angle and the preset image, if the similarity value is larger than the preset similarity threshold value, the shooting height and the shooting angle are determined to be accurate, the shooting unit is controlled to shoot according to the shooting height and the shooting frequency, so that the target image shot by the shooting unit is obtained, the shooting is performed according to the target shooting height, the target shooting angle and the shooting frequency, and the accuracy of the shooting image of the unmanned aerial vehicle is improved by verifying the initial target image obtained according to the shooting angle and the shooting height and the preset image.
According to one possible implementation manner of the embodiment of the present application, similarity calculation is performed according to an initial target image and a preset image, so as to obtain a similarity value, including:
performing image processing on the preset image to obtain a simplified preset image, wherein the image processing comprises: size reduction and color simplification;
carrying out hash value calculation according to the simplified preset image to obtain a simplified preset image fingerprint;
performing image processing on the initial target image to obtain a simplified initial target image;
carrying out hash value calculation according to the simplified initial target image to obtain a simplified initial target image fingerprint;
And calculating according to the simplified preset image fingerprint and the simplified initial target image fingerprint to obtain a similarity value.
Before similarity calculation, the preset image and the initial target image may be subjected to image processing, the image is reduced to the same size, details of the image can be removed by reducing the size, only basic information such as structures/brightness and the like is reserved, and image differences caused by different sizes or different proportions are abandoned. The color is simplified to avoid that the color has a certain influence on the similarity calculation.
The simplified preset image fingerprint is calculated by utilizing a hash value algorithm to obtain a digital value corresponding to the simplified preset image. For example: the size of the simplified preset image is 8 x 8, and after the hash value algorithm calculation is performed, a 64-bit integer is obtained, and the 64-bit integer is the fingerprint of the simplified preset image. The 64-bit integer is integrated according to the gray average value of all pixels.
After the simplified preset image fingerprint and the simplified initial target image fingerprint are determined, calculating according to the simplified preset image fingerprint and the simplified initial target image fingerprint to obtain a similarity value. The method for calculating is to calculate whether each bit in the simplified preset image fingerprint and the simplified initial target image fingerprint is the same or not, if so, the same bit is marked as 1, and if not, the different bit is marked as 0, and finally, the 64 results are summarized and calculated to obtain a similarity value.
In the embodiment of the application, the simplified preset image and the simplified initial target image are obtained by performing image processing on the preset image and the initial target image, hash value calculation is performed according to the simplified preset image, a simplified preset image fingerprint is obtained, hash value calculation is performed according to the simplified initial target image, a simplified initial target image fingerprint is obtained, similarity value is obtained by performing hash value calculation on the simplified preset image and the simplified initial target image respectively, and similarity value is obtained by performing calculation on the simplified preset image fingerprint and the simplified initial target image fingerprint, so that accuracy of a similarity calculation result is improved.
In one possible implementation manner of the embodiment of the present application, after determining whether the current longitude and latitude are the same as the longitude and latitude of the destination to be photographed, the method further includes:
if not, acquiring a shooting mode, wherein the shooting mode comprises the following steps: cruise shooting mode or individual shooting mode;
judging whether the shooting mode is a cruising shooting mode or not;
if the shooting mode is a cruise shooting mode, determining a shooting route according to a destination to be shot and the current longitude and latitude;
And cruising shooting is carried out according to the shooting route.
The cruising shooting refers to continuous shooting of the unmanned aerial vehicle according to a shooting route at a certain speed. After the destination to be shot is determined, the current longitude and latitude are taken as a starting point, the destination to be shot is taken as an end point, and a shooting route of cruise shooting is determined.
In this embodiment of the present application, the destination to be shot and the shooting mode are set by the user according to the console, and after the user inputs the destination to be shot and the shooting mode in the console, a shooting instruction is generated, and the electronic device obtains the shooting instruction and analyzes the shooting instruction to obtain the shooting mode and the destination to be shot.
In the embodiment of the application, if the current longitude and latitude are different from the longitude and latitude of the destination to be shot, whether the acquired shooting mode is the cruise shooting mode is judged, if the shooting mode is the cruise shooting mode, the shooting route is determined according to the destination to be shot and the current longitude and latitude, the cruise shooting is carried out according to the shooting route, whether the acquired shooting mode is the cruise shooting mode is judged, the shooting route is determined according to the destination to be shot and the current longitude and latitude, the control link of the user to participate in unmanned aerial vehicle shooting is avoided, and the intelligent unmanned aerial vehicle shooting is improved.
In one possible implementation manner of the embodiment of the present application, after determining a shooting route according to a destination to be shot and a current longitude and latitude, the method further includes:
acquiring a highest height value in a shooting route according to the shooting route;
acquiring the current shooting height;
judging whether the current shooting height is larger than the highest height value or not;
if not, acquiring the longitude and latitude of the highest height value;
and generating reminding information according to the longitude and latitude of the highest height value and reminding.
In this embodiment of the present application, since the shooting route is directly determined according to the destination to be shot and the current longitude and latitude, and the influence of other factors is not considered, when the highest value of the height in the shooting route is greater than the current shooting height, the unmanned aerial vehicle cannot perform complete cruise shooting.
When the shooting height is not larger than the highest height value, automatically generating reminding information according to the longitude and latitude of the highest height value and the preset template, and reminding. The preset template may be: "height highest value: xxx, longitude and latitude xxx, xxx, high current shooting height, please deal with-! The following is carried out The following is carried out Of course, other templates are also possible, and the embodiments of the present application are not limited thereto.
In the embodiment of the application, the highest height value in the shooting route is obtained according to the shooting route, when the obtained current shooting height is not greater than the highest height value, the longitude and latitude of the highest height value are obtained, the reminding information is generated according to the longitude and latitude of the highest height value, the reminding is carried out, the obtained highest height value and the current shooting height are judged, if the current shooting height is not greater than the highest height value, the reminding information is timely generated, and the cruising shooting safety of the unmanned aerial vehicle is improved.
The above embodiment describes a method for capturing images of a unmanned aerial vehicle from the viewpoint of a method flow, and the following embodiment describes a device for capturing images of a unmanned aerial vehicle from the viewpoint of a virtual module or a virtual unit, which is described in detail in the following embodiment.
The embodiment of the application provides an unmanned aerial vehicle shooting device 200, as shown in fig. 2, fig. 2 is a schematic structural diagram of the unmanned aerial vehicle shooting device provided in the embodiment of the application. Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle photographing device according to an embodiment of the present application. The unmanned aerial vehicle photographing device 200 may specifically include:
the receiving module 201: receiving a shooting instruction, wherein the shooting instruction at least comprises longitude and latitude and shooting frequency of a destination to be shot and a preset image, and the preset image represents a historical shooting image corresponding to the destination to be shot;
The first acquisition module 202: the method is used for acquiring the current longitude and latitude;
the judging module 203: the method is used for judging whether the current longitude and latitude are the same as the longitude and latitude of the destination to be shot;
the second acquisition module 204: if the images are the same, acquiring a shooting image, and determining a shooting angle according to the shooting image and a preset image;
the third acquisition module 205: the method comprises the steps of acquiring a first shooting image, wherein the first shooting image is an image obtained by shooting at the longitude and latitude and the shooting angle of a destination to be shot;
the shooting height determination module 206: the camera is used for determining the shooting height according to the first shooting image and the preset image;
shooting module 207: and the camera unit is used for controlling the camera unit to shoot according to the shooting height and the shooting frequency so as to obtain a target image shot by the camera unit.
For the embodiment of the application, the longitude and latitude of the destination to be shot in the receiving shooting instruction are judged with the acquired current longitude and latitude, if the longitude and latitude of the destination to be shot are the same, then the shooting angle is determined according to the historical shooting image corresponding to the destination to be shot and the shooting image, further, after the shooting angle is adjusted, the first shooting image shot at the shooting angle of the longitude and latitude of the destination to be shot is acquired, the shooting height is determined according to the first shooting image and the preset image, at the moment, the shooting angle and the shooting height which are the same as the preset image are accurately determined, and then the shooting unit is controlled to shoot according to the shooting height and the shooting frequency in the receiving instruction, so that the target image shot by the shooting unit is obtained, the problem that a user cannot accurately control the unmanned aerial vehicle to reach the accurate shooting height and determine the accurate shooting angle, and the shot image is inaccurate is caused is avoided, and the accuracy of the shooting image of the unmanned aerial vehicle is improved.
In one possible implementation manner of the embodiment of the present application, the second obtaining module 204 is specifically configured to:
extracting features of the shot images to obtain feature points;
extracting a preset image to obtain target feature points;
and determining the shooting angle according to the target characteristic points and the characteristic points.
In one possible implementation manner of the embodiment of the present application, when the shooting height determining module 206 determines the shooting height according to the shooting image and the preset image, the shooting height determining module is specifically configured to:
extracting a region of interest from the first shot image to obtain a region image;
calculating according to the region image to obtain the region image area;
extracting an interested region from a preset image to obtain a target region image, and calculating the area of the target region image according to the target region image;
calculating to obtain an area ratio according to the area of the area image and the area of the target area image;
acquiring the current height;
and determining the shooting height according to the current height and area ratio.
One possible implementation manner of the embodiment of the present application further includes:
and an image verification module: the method comprises the steps of shooting according to shooting height and shooting angle to obtain an initial target image;
Performing similarity calculation according to the initial target image and a preset image to obtain a similarity value;
if the similarity value is greater than the preset similarity threshold, the photographing module 207 is executed.
In one possible implementation manner of the embodiment of the present application, when performing similarity calculation according to an initial target image and a preset image to obtain a similarity value, the image verification module is specifically configured to:
performing image processing on the preset image to obtain a simplified preset image, wherein the image processing comprises: size reduction and color simplification;
carrying out hash value calculation according to the simplified preset image to obtain a simplified preset image fingerprint;
performing image processing on the initial target image to obtain a simplified initial target image;
carrying out hash value calculation according to the simplified initial target image to obtain a simplified initial target image fingerprint;
and calculating according to the simplified preset image fingerprint and the simplified initial target image fingerprint to obtain a similarity value.
One possible implementation manner of the embodiment of the present application further includes:
a cruise mode determination module: if the current longitude and latitude are different from the longitude and latitude of the destination to be shot, acquiring a shooting mode, wherein the shooting mode comprises: cruise shooting mode or individual shooting mode;
Judging whether the shooting mode is a cruising shooting mode or not;
if the shooting mode is a cruise shooting mode, determining a shooting route according to a destination to be shot and the current longitude and latitude;
and cruising shooting is carried out according to the shooting route.
One possible implementation manner of the embodiment of the present application further includes:
a reminding module: the method comprises the steps of acquiring a highest height value in a shooting route according to the shooting route;
acquiring the current shooting height;
judging whether the current shooting height is larger than the highest height value or not;
if not, acquiring the longitude and latitude of the highest height value;
and generating reminding information according to the longitude and latitude of the highest height value and reminding.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the unmanned aerial vehicle photographing apparatus 200 described above may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.
An electronic device is provided in an embodiment of the present application, as shown in fig. 3, and fig. 3 is a schematic structural diagram of the electronic device provided in the embodiment of the present application. The electronic device 300 shown in fig. 3 includes: a processor 301 and a memory 303. Wherein the processor 301 is coupled to the memory 303, such as via a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that, in practical applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 is not limited to the embodiment of the present application.
The processor 301 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. Processor 301 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
The Memory 303 may be, but is not limited to, a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory ), a CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The memory 303 is used for storing application program codes for executing the present application and is controlled to be executed by the processor 301. The processor 301 is configured to execute the application code stored in the memory 303 to implement what is shown in the foregoing method embodiments.
Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. But may also be a server or the like. The electronic device shown in fig. 3 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments herein.
The present application provides a computer readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above. Compared with the related art, the embodiment of the application judges according to the longitude and latitude of the destination to be shot in the receiving shooting instruction and the acquired current longitude and latitude, if the longitude and latitude of the destination to be shot are the same, the shooting image corresponding to the longitude and latitude of the destination to be shot is acquired, the shooting angle is determined according to the historical shooting image corresponding to the shooting image and the destination to be shot, further, after the shooting angle is adjusted, the first shooting image shot at the shooting angle of the longitude and latitude of the destination to be shot is acquired, the shooting height is determined according to the first shooting image and the preset image, at the moment, the shooting angle and the shooting height which are the same as the preset image are accurately determined, and then the shooting unit is controlled to shoot according to the shooting height and the shooting frequency in the receiving instruction, so that the target image shot by the shooting unit is obtained, the problem that a user cannot accurately control the unmanned aerial vehicle to reach the accurate shooting height and determine the accurate shooting angle, and the inaccuracy of the shooting image is caused is avoided, and the accuracy of the shooting image of the unmanned aerial vehicle is improved.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application and it should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (8)
1. An unmanned aerial vehicle shooting method is characterized by comprising the following steps:
receiving a shooting instruction, wherein the shooting instruction at least comprises longitude and latitude and shooting frequency of a destination to be shot and a preset image, and the preset image represents a historical shooting image corresponding to the destination to be shot;
Acquiring the current longitude and latitude;
judging whether the current longitude and latitude are the same as the longitude and latitude of the destination to be shot;
if the images are the same, acquiring a shooting image, and determining a shooting angle according to the shooting image and a preset image;
acquiring a first shooting image, wherein the first shooting image is an image obtained by shooting at the longitude and latitude of a destination to be shot and the shooting angle;
determining a shooting height according to the first shooting image and a preset image;
controlling the image pickup unit to pick up according to the shooting height and the shooting frequency so as to obtain a target image shot by the image pickup unit;
wherein, the determining the shooting angle according to the shooting image and the preset image includes:
extracting features of the shot image to obtain feature points, wherein the feature points are points with obvious features in the shot image;
extracting a preset image to obtain target feature points;
determining a shooting angle according to the target characteristic points and the characteristic points;
wherein determining a shooting angle according to the target feature point and the feature point comprises: determining the pixel height of the feature point according to the feature point, determining the pixel height of the target feature point according to the target feature point, and determining the shooting angle according to the pixel height of the feature point and the pixel height of the target feature point;
After the shooting height is determined according to the first shooting image and a preset image, the method further comprises the following steps:
shooting according to the shooting height and the shooting angle to obtain an initial target image;
performing similarity calculation according to the initial target image and a preset image to obtain a similarity value;
if the similarity value is larger than a preset similarity threshold value, executing the step of controlling the shooting unit to shoot according to the shooting height and the shooting frequency so as to obtain a target image shot by the shooting unit;
if the similarity value is not greater than the preset similarity threshold value, determining that the shooting angle and the shooting height are inaccurate, and recalculating the shooting height and the shooting angle according to the initial target image and the preset image.
2. The unmanned aerial vehicle photographing method of claim 1, wherein the determining the photographing height according to the first photographed image and a preset image comprises:
extracting an interested region from the first shooting image to obtain a region image;
calculating according to the region image to obtain the region image area;
extracting an interested region from a preset image to obtain a target region image, and calculating the area of the target region image according to the target region image;
Calculating according to the area of the area image and the area of the target area image to obtain an area ratio;
acquiring the current height;
and determining the shooting height according to the current height and area ratio.
3. The unmanned aerial vehicle shooting method of claim 1, wherein the calculating the similarity value according to the similarity between the initial target image and a preset image comprises:
performing image processing on the preset image to obtain a simplified preset image, wherein the image processing comprises: size reduction and color simplification;
carrying out hash value calculation according to the simplified preset image to obtain a simplified preset image fingerprint;
performing image processing on the initial target image to obtain a simplified initial target image;
performing hash value calculation according to the simplified initial target image to obtain a simplified initial target image fingerprint;
and calculating according to the simplified preset image fingerprint and the simplified initial target image fingerprint to obtain a similarity value.
4. The unmanned aerial vehicle photographing method according to claim 1, further comprising, after the determining whether the current longitude and latitude is the same as the longitude and latitude of the destination to be photographed:
if not, acquiring shooting modes, wherein the shooting modes comprise: cruise shooting mode or individual shooting mode;
Judging whether the shooting mode is a cruising shooting mode or not;
if the shooting mode is a cruise shooting mode, determining a shooting route according to a destination to be shot and the current longitude and latitude;
and cruising shooting is carried out according to the shooting route.
5. The unmanned aerial vehicle photographing method of claim 4, further comprising, after the determining a photographing route according to the destination to be photographed and the current longitude and latitude:
acquiring a highest height value in the shooting route according to the shooting route;
acquiring the current shooting height;
judging whether the current shooting height is larger than a highest height value or not;
if not, acquiring the longitude and latitude of the highest height value;
and generating reminding information according to the longitude and latitude of the highest height value and reminding.
6. An unmanned aerial vehicle shooting device, characterized by comprising:
and a receiving module: receiving a shooting instruction, wherein the shooting instruction at least comprises longitude and latitude and shooting frequency of a destination to be shot and a preset image, and the preset image represents a historical shooting image corresponding to the destination to be shot;
a first acquisition module: the method is used for acquiring the current longitude and latitude;
and a judging module: the method is used for judging whether the current longitude and latitude are the same as the longitude and latitude of the destination to be shot;
And a second acquisition module: if the images are the same, acquiring a shooting image, and determining a shooting angle according to the shooting image and a preset image;
and a third acquisition module: the method comprises the steps of acquiring a first shooting image, wherein the first shooting image is an image obtained by shooting at the longitude and latitude of a destination to be shot and the shooting angle;
shooting height determining module: the camera is used for determining the shooting height according to the first shooting image and a preset image;
and a shooting module: the camera unit is used for controlling the camera to shoot according to the shooting height and the shooting frequency so as to obtain a target image shot by the camera unit;
the second obtaining module is specifically configured to, when determining a shooting angle according to a shooting image and a preset image:
extracting features of the shot image to obtain feature points, wherein the feature points are points with obvious features in the shot image;
extracting a preset image to obtain target feature points;
determining a shooting angle according to the target characteristic points and the characteristic points;
the second obtaining module is specifically configured to, when determining a shooting angle according to the target feature point and the feature point:
determining the pixel height of the feature point according to the feature point, determining the pixel height of the target feature point according to the target feature point, and determining the shooting angle according to the pixel height of the feature point and the pixel height of the target feature point;
Unmanned aerial vehicle shooting device still includes:
and an image verification module: the method comprises the steps of shooting according to shooting height and shooting angle to obtain an initial target image;
performing similarity calculation according to the initial target image and a preset image to obtain a similarity value;
if the similarity value is larger than a preset similarity threshold value, executing the step of controlling the shooting unit to shoot according to the shooting height and the shooting frequency so as to obtain a target image shot by the shooting unit;
if the similarity value is not greater than the preset similarity threshold value, determining that the shooting angle and the shooting height are inaccurate, and recalculating the shooting height and the shooting angle according to the initial target image and the preset image.
7. An electronic device, comprising:
at least one processor;
a memory having stored thereon a computer program which, when executed by at least one processor, causes the at least one processor to implement the unmanned aerial vehicle photographing method of any of claims 1-5.
8. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when executed in a computer, causes the computer to perform the unmanned aerial vehicle photographing method of any of claims 1 to 5.
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