KR20170082839A - Method of object position calculation using camera equipped with unmanned multirotor and apparatus for the same - Google Patents

Abstract

According to an embodiment of the present invention, there is provided a method of setting an object, the method comprising: setting an object in a screen photographed through a camera provided on a platform; Controlling the camera such that the center of the object is located at the center of the screen in a state where the platform is in a first position, and acquiring a first measurement value; Moving the platform from the first position to a second position that is different from the first position; Controlling the camera such that the center of the object is located at the center of the screen with the platform in the second position, and obtaining a second measurement value; And calculating the position of the object using the first measurement value and the second measurement value. The object position calculation method using the camera provided in the unmanned multi-copter will now be described.

Description

[0001] The present invention relates to an object position calculating method using a camera provided in an unmanned multi-copter, and an apparatus therefor. [0002]

Embodiments of the present invention relate to a method of calculating an object position using a camera provided in an unmanned multi-copter and an apparatus therefor, and more particularly, to a method of calculating an object position using a camera provided in an unmanned multi- And an apparatus therefor.

It is important to know the position of the target accurately when monitoring the target with the camera mounted on the UAV.

Generally, a camera mounted on an unmanned airplane can not grasp the position of a global positioning system (GPS) of a target to be looked at, and a laser range finder (Laser Range Finder) is used for an expensive gimbal, The distance and the GPS values of the UAV are used to determine the approximate location of the target but not the exact latitude and longitude values. Also, the introduction of the laser distance measurement sensor complicates the system, increases the payload which plays a decisive role in the flight time of the multi-copter, and is also a disadvantage in terms of cost.

In the case of measuring the position of a target using only a camera mounted on a UAV without a laser distance measurement sensor, if the target exists in a high altitude, the accuracy is lowered due to an error due to the altitude difference.

Korean Patent Publication No. 10-2014-0076484

Embodiments of the present invention provide a method for calculating an object position using a camera provided in an unmanned multi-copter capable of calculating the position of an object even when the object exists in a high altitude through measurement using a camera at a plurality of positions, and an apparatus therefor do.

According to an embodiment of the present invention, there is provided a method of setting an object, the method comprising: setting an object in a screen photographed through a camera provided on a platform; Controlling the camera such that the center of the object is located at the center of the screen in a state where the platform is in a first position, and acquiring a first measurement value; Moving the platform from the first position to a second position that is different from the first position; Controlling the camera such that the center of the object is located at the center of the screen with the platform in the second position, and obtaining a second measurement value; And calculating the position of the object using the first measurement value and the second measurement value. The object position calculation method using the camera provided in the unmanned multi-copter will now be described.

The first measurement value may include at least one of a three-dimensional coordinate value of the first position, a tilting angle of the camera, and a panning angle of the camera.

The three-dimensional coordinate value of the first position may be a hardness value, a latitude value, and an altitude value of the first position.

The acquiring of the first measurement value may use the gimbal provided on the platform to acquire the first measurement value while maintaining the horizontal tilt of the camera.

Wherein the step of calculating the position of the object determines at least one of the vertical tilting mode, the horizontal tilting mode, and the horizontal panning mode using the first measured value and the second measured value, The position of the object can be calculated using a corresponding calculation formula.

The step of calculating the position of the object may determine an average value of the values calculated using the calculation formula corresponding to each of the position calculation modes as the position of the object when a plurality of the position calculation modes are determined.

Wherein the step of calculating the position of the object is performed such that the altitude values included in the first measured value and the second measured value are different from each other and the tilting angles of the camera included in the first measured value and the second measured value are different from each other In other cases, the position calculating mode may be determined as the vertical tilting mode.

Wherein the step of calculating the position of the object includes a step of calculating a position of the object by comparing the first measured value and the second measured value with the hardness value or the latitude value included in the first measured value and the second measured value, When the angles are different, the position calculating mode can be determined as the horizontal tilting mode.

The calculating of the position of the object may determine the position calculating mode as the horizontal panning mode when the panning angles of the cameras included in the first measured value and the second measured value are different from each other.

The method of calculating an object position using the camera may further include calculating the size of the object using the position of the object, the size of the object in the screen, and the zoom factor of the camera.

According to another embodiment of the present invention, there is provided an image processing apparatus including an object setting unit for setting an object in a screen photographed through a camera provided in a platform; Moving the platform from a first position to a second position that is different from the first position, obtaining a first measurement value while the platform is in the first position, and when the platform is in the second position, A platform control unit for acquiring a measurement value; A camera controller for controlling the camera such that the center of the object is located at the center of the screen before acquiring the first measurement value and the second measurement value, respectively; And an object position calculation unit for calculating the position of the object using the first measurement value and the second measurement value. The apparatus for calculating an object position using a camera provided in an unmanned multi-copter.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to the object position calculating method using the camera provided in the unmanned multi-copter and the apparatus therefor according to the embodiments of the present invention, even when the object exists in the high altitude through the measurement using the camera at a plurality of positions, Can be calculated.

FIG. 1 is a block diagram illustrating an apparatus for calculating an object position using a camera provided in an unmanned multi-copter according to an exemplary embodiment of the present invention. Referring to FIG.
2 is a flowchart illustrating an object position calculation method using a camera provided in an unmanned multi-copter according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating an object position calculation method using a camera provided in an unmanned multi-copter according to another embodiment of the present invention.
4 is a view illustrating an unmanned multi-copter according to an embodiment of the present invention.
5 is a diagram illustrating a method of calculating the position of an object according to an embodiment of the present invention.
6 is a diagram illustrating a method of calculating an object position according to another embodiment of the present invention.
7 is a diagram illustrating a method of calculating the position of an object according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

In the following embodiments, the terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

The terms used in the following examples are used only to illustrate specific embodiments and are not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the following description, the terms "comprises" or "having ", and the like, specify that the presence of stated features, integers, steps, operations, elements, But do not preclude the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Embodiments of the present invention may be represented by functional block configurations and various processing steps. These functional blocks may be implemented in a wide variety of hardware and / or software configurations that perform particular functions. For example, embodiments of the invention may be embodied directly in hardware, such as memory, processing, logic, look-up tables, etc., that can perform various functions by control of one or more microprocessors or by other control devices Circuit configurations can be employed. Similar to the components of an embodiment of the present invention may be implemented with software programming or software components, embodiments of the present invention include various algorithms implemented with a combination of data structures, processes, routines, or other programming constructs , C, C ++, Java, assembler, and the like. Functional aspects may be implemented with algorithms running on one or more processors. Embodiments of the present invention may also employ conventional techniques for electronic configuration, signal processing, and / or data processing. Terms such as mechanisms, elements, means, and configurations are widely used and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in conjunction with a processor or the like.

In the present specification and drawings, the same reference numerals are used for constituent elements having substantially the same configuration, and redundant description is omitted.

FIG. 1 is a block diagram illustrating an apparatus for calculating an object position using a camera provided in an unmanned multi-copter according to an exemplary embodiment of the present invention. Referring to FIG.

1, an apparatus for calculating an object position using a camera provided in an unmanned multi-copter according to an exemplary embodiment of the present invention includes an object setting unit 110, a camera control unit 120, a platform control unit 130, (140) and an object size calculation unit (150).

The object setting unit 110 sets an object in a screen photographed through a camera provided in the platform.

Herein, the platform means an unmanned multi-copter according to an embodiment of the present invention.

The unmanned multi-copter may be a non-human-type aircraft, having two or more roters.

The unmanned multi-copter can be a tri-copter with three rotors, a quad copter with four rotors, an X copter or a Y4 copter, a six-rotor hexacopter or a Y6 copter, and the number and shape of the rotor are limited no.

In the embodiments of the present invention, an unmanned multi-copter will be described as an example of a quad-copter having four rotors for convenience.

The object setting unit 110 may identify the object by applying various algorithms to identify the object to the image photographed through the camera. The algorithm used in the embodiments of the present invention may be an algorithm for identifying an object, and is not limited to a specific algorithm.

The object setting unit 110 may set at least one of the identified objects in the image photographed through the camera as a target.

The camera control unit 120 controls a camera provided in the platform.

The camera control unit 120 can control the camera such that the center of the object is positioned at the center of the screen.

When the object set in the object setting unit 110 has a width, the camera control unit 120 may calculate the center point of the object and control the camera such that the center point is located at the center of the screen.

The camera control unit 120 may calculate the center point of the object by applying various algorithms. The algorithm used in the embodiments of the present invention may be an algorithm for calculating the center point of the object, and is not limited to a specific algorithm .

Here, the camera is a camera capable of tilting and panning, and can be controlled in the up, down, left, and right directions.

For example, the camera is controlled in the vertical direction by the tilting operation, and can be controlled in the lateral direction by the panning operation.

Accordingly, the camera control unit 120 can perform a tilting or panning operation on the camera so that the center of the object is positioned at the center of the screen.

For example, when the center of the object is located on the left side of the center of the screen, the camera controller 120 performs a panning operation to move the camera to the right. If the center of the object is located below the center of the screen, The tilting operation can be performed.

After the center of the object is located at the center of the screen, when the center of the object is out of the center of the screen as the platform moves, the camera controller 120 controls the camera again so that the center of the object is positioned at the center of the screen .

In an alternative embodiment, the camera controller 120 may maintain the horizontal tilt of the camera using a gimbal provided on the platform.

The platform control unit 130 may move the platform from a specific position to another position.

When the platform is vertically moved so that only the altitude of the platform is changed, the up and down movement is performed. When the platform is maintained at the altitude, the horizontally moving direction is moved forward and backward. The platform control unit 130 can move the platform in six directions: up, down, left and right, and right and left directions.

In addition, the platform control unit 130 can acquire various measurement values at each position using the sensors provided in the platform.

For example, the measured values may include three-dimensional coordinate values of the platform, a tilting angle of the camera, and a panning angle of the camera.

Here, the three-dimensional coordinate value of the platform may be an x coordinate value, a y coordinate value, and a z coordinate value. The x coordinate value may be a longitude, the y coordinate value may be a latitude, and the z coordinate value may correspond to an altitude .

When the platform is moved from a specific position to another position, the platform control unit 130 may acquire the first measurement value at the position before the movement and acquire the second measurement value at the position after the movement.

In this case, before the platform control unit 130 acquires the first measurement value or before acquiring the second measurement value, the camera is controlled such that the center of the object is located at the center of the screen by the camera control unit 120 .

In addition, the camera may be controlled such that the left and right tilts of the camera are maintained in a horizontal state by the camera control unit 120 while the platform control unit 130 acquires the first measured value or acquires the second measured value.

The object position calculation unit 140 calculates the position of the object using the measured values measured by the platform control unit 130.

In an alternative embodiment, the object position calculation unit 140 may determine at least one of the vertical tilting mode, the horizontal tilting mode, and the horizontal panning mode using the measurement values, and use an equation corresponding to the position calculation mode The position of the object can be calculated.

For example, the object position calculation unit 140 may determine the position calculation mode to be the vertical tilting mode when the altitude values included in the measured values are different from each other and the tilting angles of the cameras included in the measured values are different from each other.

Here, in the case of the vertical tilting mode, the object position calculating unit 140 may calculate the position of the object according to Equation (1).

[Equation 1]

H2 is the tilting angle of the camera at the second position, h is the height of the object at the first position, h2 is the angle of the camera at the second position, X 'is the longitude value of the platform, y is the latitude value of the object, y' is the latitude value of the platform, and a is the panning angle of the camera.

In addition, the object position calculation unit 140 may determine the position calculation mode as the horizontal tilting mode when the tilting angles of the cameras included in the measured values are different from each other as longitude values or latitude values included in the measured values are different from each other .

In the case of the horizontal tilting mode, the object position calculating unit 140 may calculate the position of the object according to Equation (2).

&Quot; (2) "

H2 is the tilting angle of the camera at the second position, h is the height of the object at the first position, h2 is the angle of the camera at the second position, X 'is the longitude value of the platform, y is the latitude value of the object, y' is the latitude value of the platform, and a is the panning angle of the camera.

In addition, the object position calculation unit 140 may determine the position calculation mode as the horizontal panning mode when the panning angles of the cameras included in the measured values are different from each other.

Here, in the case of the horizontal panning mode, the object position calculating unit 140 may calculate the position of the object according to the following equation (3).

&Quot; (3) "

X2 'is the hardness value of the platform at the second position, x1' is the hardness value of the platform at the first position, h2 is the height value at the second position, [theta] 2 is the tilting angle of the camera at the second position, y2 'is the latitude value of the platform at the second location, y1' is the latitude value of the platform at the first location, h is the altitude value of the object, x is the longitude value of the object, y is the latitude value of the object, May be referred to as a relative panning angle.

In an alternative embodiment, when a plurality of position calculation modes are determined, the object position calculation unit 140 may determine an average value of the values calculated using the calculation formula corresponding to each of the position calculation modes as the position of the object.

The object position calculating unit 140 may measure the position of the object using any two of the three or more measured values acquired by moving the platform two more times.

The object size calculating unit 150 calculates the size of the object using the position of the object calculated by the object position calculating unit 140.

The object size calculating unit 150 may calculate the distance between the object and the platform using the position of the object and the position of the platform.

The object size calculating unit 150 may calculate the angle of view of the camera using the zoom magnification value of the camera.

The object size calculating unit 150 may calculate the size of the object using the distance between the object and the platform, the angle of view of the camera, and the size of the object on the screen.

2 is a flowchart illustrating an object position calculation method using a camera provided in an unmanned multi-copter according to an embodiment of the present invention.

Referring to FIG. 2, a method for calculating an object position using a camera provided in an unmanned multi-copter according to an embodiment of the present invention includes a step of setting an object setting unit (see 110 in FIG. 1) (S210). ≪ / RTI >

In step S210, the object setting unit (see 110 in FIG. 1) may identify the object by applying various algorithms to identify the object to the image photographed through the camera. The algorithm used in the embodiments of the present invention may be an algorithm for identifying an object, and is not limited to a specific algorithm.

In step S210, the object setting unit (see 110 in FIG. 1) may set at least one of the identified objects in the image photographed by the camera as a target.

Next, a method for calculating an object position using a camera provided in an unmanned multi-copter according to an embodiment of the present invention is characterized in that the camera controller (see 120 in FIG. 1) The camera is controlled so as to be located at the center, and the platform control unit 130 (see FIG. 1) acquires the first measured value (S220).

In step S220, if the object set in step S210 has a width, the camera control unit 120 (see FIG. 1) calculates the center point of the object and controls the camera so that the center point is located at the center of the screen .

In step S220, the camera controller (see 120 in FIG. 1) may calculate the center point of the object by applying various algorithms, and if the algorithm used in the embodiments of the present invention is an algorithm for calculating the center point of the object And is not limited to a specific algorithm.

As an alternative embodiment, in step S220, the camera controller (see 120 in FIG. 1) maintains the horizontal tilt of the camera using a gimbal provided on the platform, and the horizontal tilt of the camera is horizontal The platform control unit (see 130 in FIG. 1) can acquire the first measured value.

Next, a method for calculating an object position using a camera provided in an unmanned multi-copter according to an embodiment of the present invention is characterized in that the platform control unit (see 130 in FIG. 1) (S230).

Next, in a method of calculating an object position using a camera provided in an unmanned multi-copter according to an embodiment of the present invention, when a camera control unit (see 120 in FIG. 1) The camera is controlled so as to be located at the center, and the platform control unit (see 130 in FIG. 1) acquires the second measured value (S240).

In step S240, the camera controller (see 120 in FIG. 1) maintains the horizontal tilt of the camera using a gimbal provided on the platform, and in a state where the horizontal tilt of the camera is maintained The platform control section (see 130 in FIG. 1) can acquire the second measured value.

Next, an object position calculating method using a camera provided in an unmanned multi-copter according to an embodiment of the present invention is characterized in that an object position calculating unit (refer to 140 in FIG. 1) calculates the object position using a first measured value and a second measured value The position of the object is calculated (S250).

In step S250, the object position calculating unit 140 (see FIG. 1) determines a position calculating mode of at least one of a vertical tilting mode, a horizontal tilting mode, and a horizontal panning mode using the first measured value and the second measured value And the position of the object can be calculated using an equation corresponding to the position calculation mode.

In step S250, when the altitude values included in the measured values are different from each other and the tilting angles of the cameras included in the measured values are different from each other, the object position calculating unit (see 140 in FIG. 1) Mode.

In step S250, if the position calculation mode is the vertical tilting mode, the object position calculation unit 140 may calculate the position of the object according to Equation (1).

In step S250, when the tilting angles of the cameras included in the measured values are different from each other, the object position calculating unit 140 (see FIG. 1) The horizontal tilting mode can be determined.

In step S250, if the position calculation mode is the horizontal tilting mode, the object position calculation unit (refer to 140 in FIG. 1) can calculate the position of the object according to Equation (2).

In step S250, the object position calculating unit 140 may determine the position calculating mode to be the horizontal panning mode when the panning angles of the cameras included in the measured values are different from each other.

In step S250, if the position calculation mode is the horizontal panning mode, the object position calculator (refer to 140 in FIG. 1) can calculate the position of the object according to Equation (3).

FIG. 3 is a flowchart illustrating an object position calculation method using a camera provided in an unmanned multi-copter according to another embodiment of the present invention.

3, an object position calculating method using a camera included in an unmanned multi-copter according to an exemplary embodiment of the present invention includes calculating an object position (refer to step S250 in FIG. 2) 1) 150 calculates the size of the object using the position of the object and the camera zoom magnification value (S310).

In step S310, the object size calculator (see 150 in FIG. 1) may calculate the distance between the object and the platform using the position of the object and the position of the platform.

In step S310, the object size calculator (see 150 in FIG. 1) may calculate the angle of view of the camera using the zoom magnification value of the camera.

In step S310, the object size calculator (see 150 in FIG. 1) may calculate the size of the object using the distance between the object and the platform, the angle of view of the camera, and the size of the object on the screen.

4 is a diagram illustrating an unmanned multi-copter 400 according to an embodiment of the present invention.

Referring to FIG. 4, the unmanned multi-copter 400 according to an exemplary embodiment of the present invention includes four rotors and a camera 410.

The unmanned multicoperator 400 according to an embodiment of the present invention shown in FIG. 4 is an example of a quad-copter having four rotors, but the numbers and shapes of the rotors constituting the unmanned multicoperator 400 are limited thereto It is not.

The unmanned multi-copter 400 can be moved up, down, left and right, and right and left directions by the platform control unit 130 (see FIG. 1).

The camera 410 can be vertically tilted and panned in the left and right direction by the camera controller (see 120 in FIG. 1).

5 is a diagram illustrating a method of calculating the position of an object according to an embodiment of the present invention.

Referring to FIG. 5, in the method of calculating the position of an object according to an embodiment of the present invention, the object position calculating unit (see 140 in FIG. 1) determines the position calculating mode to be the vertical tilting mode, And the position of the object 500 is calculated using the corresponding calculation formula.

Since the altitude values included in the measured values are different from each other and the tilting angles of the cameras included in the measured values are different from each other, the object position calculating unit 140 determines the position calculating mode as the vertical tilting mode .

5, the altitude value h1 at the first position 411 and the altitude value h2 at the second position 412 of the platform 400 are different from each other, and at the first position 411 1) of the camera at the second position 412 is different from the tilting angle 2 of the camera at the second position 412, the object position calculating section 140 (see FIG. 1) determines the position calculating mode to be the vertical tilting mode .

The object position calculating unit 140 may calculate the position of the object 500 according to Equation (1) when the position calculating mode is the vertical tilting mode.

6 is a diagram illustrating a method of calculating an object position according to another embodiment of the present invention.

Referring to FIG. 6, in the method of calculating the position of an object according to another embodiment of the present invention, the object position calculating unit (see 140 in FIG. 1) determines the position calculating mode as the vertical panning mode, The position of the object 500 is calculated using the calculation formula corresponding to the object 500. [

If the tilting angles of the cameras included in the measured values are different from each other, the object position calculating unit (see 140 in FIG. 1) determines the position calculating mode as the horizontal tilting mode .

6, the hardness value x 'at the first position 411 of the platform 401 and the hardness value (not shown) at the second position 412 of the platform 402 are different from each other, Since the tilting angle 1 of the camera at the first position 411 is different from the tilting angle 2 of the camera at the second position 412, the object position calculating section 140 (see FIG. 1) The mode can be determined as the horizontal tilting mode.

6, the latitude value y 'at the first location 411 of the platform 401 is different from the latitude value (not shown) at the second location 412 of the platform 402, Since the tilting angle 1 of the camera at the first position 411 is different from the tilting angle 2 of the camera at the second position 412, the object position calculating section 140 (see FIG. 1) The mode can be determined as the horizontal tilting mode.

When the position calculation mode is the horizontal tilting mode, the object position calculation unit 140 can calculate the position of the object 500 according to Equation (2).

7 is a diagram illustrating a method of calculating the position of an object according to another embodiment of the present invention.

Referring to FIG. 7, in the method of calculating the position of an object according to another embodiment of the present invention, the object position calculating unit 140 (see FIG. 1) determines the position calculating mode as the horizontal panning mode, The position of the object 500 is calculated using an equation corresponding to the mode.

The object position calculation unit (see 140 in FIG. 1) can determine the position calculation mode as the horizontal panning mode when the absolute panning angles of the cameras included in the measured values are different.

The absolute panning angle of the camera may refer to the direction of the camera from the reference direction.

For example, in the case of FIG. 7, the absolute panning angle of the camera at the first position 401 may be 90 +? Degrees, assuming that the direction of the platform is 180 degrees.

In this case, since the absolute panning angle (90 + alpha) at the first position 401 of the platform is different from the absolute panning angle 270- alpha at the second position 412, the object position calculation unit 140) can determine the position calculation mode as the horizontal panning mode.

The object position calculator (refer to 140 in FIG. 1) can calculate the position of the object 500 according to Equation (3) when the position calculating mode is the horizontal panning mode.

In Equation (3),? May be a relative panning angle of the camera.

The relative panning angle of the camera may refer to the direction of the camera with the other position of the platform as the reference direction.

For example, the relative panning angle of the camera at the first position 401 of the platform is alpha, which is the direction of the camera when the second position 402, which is another position of the platform, is the reference direction, The relative panning angle of the camera at the first position 401, which is another position of the platform, may be -α degrees, which is the direction of the camera in the reference direction.

The embodiments of the present invention described above can be embodied in the form of a computer program that can be executed on various components on a computer, and the computer program can be recorded on a computer-readable medium. At this time, the medium may be a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floptical disk, , A RAM, a flash memory, and the like, which are specifically configured to store and execute program instructions. Further, the medium may include an intangible medium that is implemented in a form that can be transmitted over a network, and may be, for example, a medium in the form of software or an application, which can be transmitted and distributed through a network.

Meanwhile, the computer program may be specifically designed and configured for the present invention or may be known and used by those skilled in the computer software field. Examples of computer programs may include machine language code such as those produced by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like.

The specific acts described in the present invention are, by way of example, not intended to limit the scope of the invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of such systems may be omitted. Also, the connections or connecting members of the lines between the components shown in the figures are illustrative of functional connections and / or physical or circuit connections, which may be replaced or additionally provided by a variety of functional connections, physical Connection, or circuit connections. Also, unless explicitly mentioned, such as " essential ", " importantly ", etc., it may not be a necessary component for application of the present invention.

Accordingly, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all ranges that are equivalent to or equivalent to the claims of the present invention as well as the claims .

100: Object position calculating device using a camera provided in an unmanned multi-copter
110: Object setting unit 120: Camera control unit
130: platform control unit 140: object position calculation unit
150: object size calculating unit 400: unmanned multi-copter
410: camera 500: object

Claims (20)

Setting an object in a screen photographed through a camera provided on a platform;
Controlling the camera such that the center of the object is located at the center of the screen in a state where the platform is in a first position, and acquiring a first measurement value;
Moving the platform from the first position to a second position that is different from the first position;
Controlling the camera such that the center of the object is located at the center of the screen with the platform in the second position, and obtaining a second measurement value; And
And calculating the position of the object by using the first measurement value and the second measurement value. The method according to claim 1,
The first measurement value
A tilting angle of the camera, and a panning angle of the camera, wherein the three-dimensional coordinate value of the first position, the tilting angle of the camera, and the panning angle of the camera. . 3. The method of claim 2,
The three-dimensional coordinate value of the first position is
A latitude value, and an altitude value of the first position, the latitude value and the altitude value of the first position. The method of claim 3,
The step of obtaining the first measured value
Wherein the first measurement value is acquired in a state in which the left and right tilts of the camera are maintained in a horizontal state by using a gimbal provided on the platform. Way. The method of claim 3,
The step of calculating the position of the object
Determining a position calculation mode of at least one of a vertical tilting mode, a horizontal tilting mode, and a horizontal panning mode using the first measurement value and the second measurement value, Wherein the position of the object is calculated using the camera provided in the unmanned multi-copter. 6. The method of claim 5,
The step of calculating the position of the object
Wherein when the plurality of position calculation modes are determined, an average value of the values calculated using the calculation formula corresponding to each of the position calculation modes is determined as the position of the object. A method for calculating object position using. 6. The method of claim 5,
The step of calculating the position of the object
When the first measurement value and the altitude value included in the second measurement value are different from each other and the tilting angles of the camera included in the first measurement value and the second measurement value are different, Wherein the vertical tilting mode is determined to be a vertical tilting mode. 6. The method of claim 5,
The step of calculating the position of the object
When the tilting angles of the cameras included in the first measured value and the second measured value are different from each other when the first measured value and the second measured value have different hardness values or latitude values, Wherein the mode is determined as the horizontal tilting mode. A method for calculating an object position using a camera provided in an unmanned multi-copter. 6. The method of claim 5,
The step of calculating the position of the object
Wherein when the panning angle of the camera included in the first measured value and the second measured value are different from each other, the determining unit determines the position calculating mode as the horizontal panning mode. Location calculation method. The method of claim 3,
The object position calculating method using the camera
And calculating a size of the object using the position of the object, the size of the object in the screen, and the zoom magnification value of the camera. Location calculation method. An object setting unit for setting an object in a screen photographed through a camera provided on the platform;
Moving the platform from a first position to a second position that is different from the first position, obtaining a first measurement value while the platform is in the first position, and when the platform is in the second position, A platform control unit for acquiring a measurement value;
A camera controller for controlling the camera such that the center of the object is located at the center of the screen before acquiring the first measurement value and the second measurement value, respectively; And
And an object position calculation unit for calculating the position of the object using the first measurement value and the second measurement value. 12. The method of claim 11,
The first measurement value
A tilting angle of the camera, and a panning angle of the camera, wherein the object position calculating device includes at least one of a three-dimensional coordinate value of the first position, a tilting angle of the camera, and a panning angle of the camera. . 13. The method of claim 12,
The three-dimensional coordinate value of the first position is
The latitude value and the altitude value of the first position, the latitude value and the altitude value of the first position. 14. The method of claim 13,
The camera control unit
Wherein the controller is configured to maintain the horizontal tilt of the camera using a gimbal provided on the platform during the acquisition of the first measured value, Device. 14. The method of claim 13,
The object position calculation unit
Determining a position calculation mode of at least one of a vertical tilting mode, a horizontal tilting mode, and a horizontal panning mode using the first measurement value and the second measurement value, Wherein the position of the object is calculated by using the camera. 16. The method of claim 15,
The object position calculation unit
Wherein when the plurality of position calculation modes are determined, an average value of the values calculated using the calculation formula corresponding to each of the position calculation modes is determined as the position of the object. For calculating the position of the object. 16. The method of claim 15,
The object position calculation unit
When the first measurement value and the altitude value included in the second measurement value are different from each other and the tilting angles of the camera included in the first measurement value and the second measurement value are different, Wherein the vertical tilting mode is determined to be the vertical tilting mode. 16. The method of claim 15,
The object position calculation unit
When the tilting angles of the cameras included in the first measured value and the second measured value are different from each other when the first measured value and the second measured value have different hardness values or latitude values, Mode is set to the horizontal tilting mode, wherein the horizontal tilting mode is set to the horizontal tilting mode. 16. The method of claim 15,
The object position calculation unit
Wherein when the panning angle of the camera included in the first measured value and the second measured value are different from each other, the determining unit determines the position calculating mode as the horizontal panning mode. Position calculating device. 14. The method of claim 13,
The object position calculating apparatus using the camera
And an object size calculating unit for calculating the size of the object using the position of the object, the size of the object in the screen, and the zoom magnification value of the camera. For calculating the position of the object.

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