WO2019023914A1 - Procédé de traitement d'image, véhicule aérien sans pilote, console au sol et système de traitement d'image associé - Google Patents

Procédé de traitement d'image, véhicule aérien sans pilote, console au sol et système de traitement d'image associé Download PDF

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Publication number
WO2019023914A1
WO2019023914A1 PCT/CN2017/095340 CN2017095340W WO2019023914A1 WO 2019023914 A1 WO2019023914 A1 WO 2019023914A1 CN 2017095340 W CN2017095340 W CN 2017095340W WO 2019023914 A1 WO2019023914 A1 WO 2019023914A1
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WIPO (PCT)
Prior art keywords
flight trajectory
shooting
target
flight
image
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PCT/CN2017/095340
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English (en)
Chinese (zh)
Inventor
苏冠华
刘昂
毛曙源
胡骁
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780004683.XA priority Critical patent/CN108513642B/zh
Priority to PCT/CN2017/095340 priority patent/WO2019023914A1/fr
Publication of WO2019023914A1 publication Critical patent/WO2019023914A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to the field of image processing technologies, and in particular, to an image processing method, a drone, and a ground console.
  • the embodiment of the invention discloses an image processing method, a drone and a ground console, which can automatically generate a special effect image and improve the efficiency of generating a special effect image.
  • the first aspect of the embodiment of the present invention discloses an image processing method, including:
  • a shooting position interval and a shooting posture according to the target flight trajectory, wherein a shooting position interval in the non-curved portion of the target flight trajectory is the same, and a shooting position interval in the curved portion of the target flying trajectory is smaller than the non-curved portion Shooting position interval, the shooting posture is toward the target subject;
  • a second aspect of the embodiment of the present invention discloses another image processing method, including:
  • the special effect shooting control information including a target flight trajectory
  • a photographing position interval in a curved portion of the target flight locus is smaller than a photographing position interval in the non-curved portion, the photographing posture being toward the target photographing object;
  • the curvature is related to the curvature.
  • a third aspect of the embodiments of the present invention discloses a drone, including: a processor, a communication interface, and a memory, wherein the processor, the communication interface, and the memory are connected by a bus;
  • the memory is configured to store program instructions
  • the processor is configured to execute program instructions stored by the memory
  • the communication interface is configured to exchange information or signaling interactions
  • the communication interface is configured to receive special effect shooting control information sent by a ground console, where the special effect shooting control information includes a target flight trajectory;
  • the processor is configured to determine a shooting position interval and a shooting attitude according to the target flight trajectory, wherein a shooting position interval in the non-curved portion of the target flight trajectory is the same, and a shooting position interval in the curved portion of the target flying trajectory Less than a photographing position interval in the non-curved portion, the photographing posture is toward a target photographing object;
  • the processor is further configured to control the drone to fly according to the target flight trajectory, and control the camera to capture the target photographic object according to the shooting position interval and the shooting attitude, to obtain a captured image set,
  • the captured image set includes a plurality of captured images
  • the communication interface is further configured to send the captured image set to the ground console, so that And stitching at least part of the captured images in the captured image set to the ground console to generate a special effect image.
  • a fourth aspect of the embodiments of the present invention discloses a ground console, including: a processor, a communication interface, and a memory, where the processor, the communication interface, and the memory are connected by using a bus;
  • the memory is configured to store program instructions
  • the communication interface is configured to exchange information or signaling interactions
  • the processor is configured to execute program instructions stored by the memory
  • the processor is configured to acquire a special effect image type, and determine special effect shooting control information corresponding to the special effect image type, where the special effect shooting control information includes a target flight trajectory;
  • the communication interface is configured to send the special effect shooting control information to the drone, so that the drone determines the shooting position interval and the shooting posture according to the target flight trajectory, and the non-bending portion of the target flight trajectory
  • the photographing position intervals are the same, the photographing position interval in the curved portion of the target flight locus is smaller than the photographing position interval in the non-curved portion, the photographing posture is toward the target photographing object;
  • the communication interface is further configured to receive a set of captured images sent by the drone, and the plurality of captured images included in the captured image set are in a process of flying by the drone according to the target flight path. Controlling, by the camera, the shooting of the target subject according to the shooting position interval and the shooting attitude;
  • the processor is further configured to splice the at least part of the captured image according to an image range that is respectively captured by at least part of the captured images in the captured image set, to generate a special effect image, and the image range and the image captured by the captured image The curvature of the photographing position of the captured image is related.
  • the fifth aspect of the embodiments of the present invention discloses an image processing system, comprising: the drone according to the above third aspect, and the ground console according to the fourth aspect.
  • a sixth aspect of the embodiments of the present invention discloses a computer program product, wherein the image processing method is executed when an instruction in the computer program product is executed by a processor.
  • a seventh aspect of the embodiments of the present invention discloses a storage medium, wherein the image processing method is executed when an instruction in the storage medium is executed by a processor.
  • the special effect shooting control information sent by the ground console is received, and the shooting position interval and the shooting attitude are determined according to the target flight trajectory included in the special effect shooting control information, and then Controlling the drone to fly according to the target flight path, and controlling the camera to shoot the target object according to the shooting position interval and the shooting attitude, obtaining a captured image set, and finally transmitting the captured image set to the ground console for ground control
  • the station splices at least part of the captured images in the captured image set to generate a special effect image, and can automatically generate a special effect image according to the image set captured by the drone, thereby improving the efficiency of generating the special effect image.
  • FIG. 1 is a schematic flow chart of an image processing method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an image splicing process disclosed in an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a special effect flight trajectory disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of another special effect flight trajectory disclosed in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of still another special effect flight trajectory disclosed in the embodiment of the present invention.
  • FIG. 6 is a schematic diagram of still another special effect flight trajectory disclosed in the embodiment of the present invention.
  • FIG. 7 is a schematic diagram of still another special effect flight trajectory disclosed in the embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a ground console disclosed in an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of an image processing system according to an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart diagram of an image processing method according to an embodiment of the present invention.
  • the image processing method described in this embodiment includes but is not limited to the following steps:
  • the ground console acquires a special effect image type, and determines a special corresponding to the special effect image type. Effective shooting control information.
  • the special effect shooting control information includes a target flight trajectory.
  • the ground console first receives the special effect image selected by the user, and acquires the special effect image type to which the effect image selected by the user belongs. Then, the target special effect flight trajectory is determined according to the corresponding relationship between the preset special effect image type and the special effect flight trajectory, and the target special effect flight trajectory is one of the special effect flight trajectories pre-stored by the ground console. Then, according to the target special effect flight trajectory and the flight starting point specified for the flight of the drone, the target flight trajectory of the flight of the drone is determined.
  • the target special effect flight trajectory can be directly used as the target flight trajectory of the drone.
  • the flight refers to the flight process of controlling the drone to collect the image set for the target subject when the image processing method provided by the embodiment of the present invention is used to generate the special effect image.
  • the special effect flight trajectory pre-stored by the ground console may be generated based on a pre-recorded flight trajectory of the drone.
  • the flight position, speed, acceleration, and the like during the manual flight of the drone are recorded, and the recording is recorded.
  • Information such as the shooting position and the attitude of the pan/tilt that the subject is shooting.
  • the flight position information includes information such as height and coordinates
  • the attitude information of the pan/tilt includes information such as a deflection angle roll, a longitudinal angle pitch, and a lateral angle yaw of the pan/tilt.
  • the flight path of the UAV manual flight is determined and recorded, and the recorded flight path of the UAV manual flight is scaled, pulled, rotated, etc. to generate a special effect flight path.
  • the special effect image type corresponding to the special effect flight track may be determined and recorded according to the plurality of images captured by the subject during the manual flight of the drone, and the recorded shooting position, the pan/tilt posture and the like.
  • the special effect flight trajectory pre-stored by the ground console may be generated according to a flight trajectory previously drawn by the user. Specifically, the UAV flight trajectory manually drawn by the user in the APP of the ground console is determined as the special effect flight trajectory, and further information such as the flying height and the PTZ attitude set by the user may be recorded, wherein the PTZ attitude may be Towards the subject.
  • the special effect flight trajectory pre-stored by the ground console may be generated according to a flight trajectory of the pre-recorded drone or a flight trajectory previously drawn by the user, or may be based on a pre-recorded drone. Flight trajectory or multiple flight trajectories pre-drawn by the user Into.
  • the special effect shooting control information may further include information such as a shooting position interval, a shooting frequency, a shooting attitude, a flying speed, an acceleration, and the like, and how to determine the above information included in the shooting control information may be determined according to a specific situation. This is not limited here.
  • the ground console sends the special effect shooting control information to the drone.
  • the drone receives the special effect shooting control information sent by the ground console.
  • the drone determines a shooting position interval and a shooting attitude according to a target flight trajectory included in the special effect shooting control information.
  • the drone after receiving the special effect shooting control information sent by the ground console, the drone determines the shooting position interval and the shooting attitude according to the target flight trajectory included in the special effect shooting control information. Specifically, for the target flight trajectory, the curved portion and the non-curved portion in the target flight trajectory are determined.
  • the non-curved portion refers to a portion of the target flight trajectory that is horizontally or vertically parallel to the target photographic subject or perpendicular to the target photographic subject.
  • the photographing position interval in the curved portion of the target flight locus is determined according to a preset setting rule of the photographing position interval, and the photographing position interval in the non-curved portion of the target flight locus is determined.
  • the setting rule of the preset shooting position interval may be that the shooting position interval in the non-curved portion of the target flying track is set to a first shooting position interval, and the first shooting position interval is a fixed value, that is, It is said that the photographing position intervals in the non-curved portion of the target flight locus are the same; the photographing position interval in the curved portion of the target flight locus is set as the second photographing position interval.
  • the second shooting position interval is different from the first shooting position interval; further optionally, the second shooting position interval may be smaller than the first shooting position interval.
  • the second shooting position interval may also be a changed value; further optionally, the second shooting position interval may also be negatively correlated with a bending curvature in the curved portion of the target flight path. That is, the second shooting position interval is inversely proportional to the bending curvature at the curved portion.
  • the second shooting position interval is less than the first shooting position interval, and the second shooting position interval is negatively correlated with the bending curvature in the curved portion of the target flight track.
  • position information of each of the photographing points in the non-curved portion may be determined according to the target flight trajectory and the first photographing position interval. First obtaining the bending position in the curved portion a law of radians change, and then determining a shooting position interval at each bending position in the curved portion of the target flight trajectory according to a mapping relationship between the preset bending radii and the second shooting position interval, and determining the curved portion according to the target flight trajectory Location information for each shooting point.
  • the shooting postures of the respective shooting points in the curved portion of the target flight trajectory are determined according to a preset setting rule of the shooting attitude, and the shooting postures of the respective shooting points in the non-curved portion of the target flight trajectory are determined.
  • the setting rule of the preset shooting posture may be that the shooting posture of each shooting point of the target flight trajectory is set to face the target photographic subject.
  • a shooting posture of each of the non-curved portions of the target flight trajectory may be set to be vertically oriented toward the target photographic subject; a shooting posture of each of the curved portions of the target flight trajectory may be set to an oblique orientation Target subject.
  • the direction vector corresponding to the shooting posture of the shooting point in the curved portion may be set at an angle between plus and minus 70 degrees to 90 degrees with the tangent of the shooting point in the target flight path.
  • the target subject refers to each shooting target in the shooting area designated by the user.
  • the preset rule of the shooting position interval and the setting rule of the preset shooting posture may be included in the shooting control information sent by the ground console, or may be pre-stored in the memory of the drone, and the present invention Implementation is not limited.
  • the shooting position interval in the non-bent portion of the target flight trajectory may be determined according to the preset first shooting frequency and the flying speed of the drone.
  • the shooting position interval in the curved portion of the target flight trajectory may also be determined according to a mapping relationship between the preset bending curvature and the second shooting frequency, and a flying speed of the drone.
  • the second shooting frequency may be different from the first shooting frequency; further optionally, the first shooting frequency may be smaller than the second shooting frequency.
  • the second frequency may also be proportional to the bending curvature, that is, the greater the bending curvature, the larger the second shooting frequency corresponding to the bending curvature.
  • the UAV controls the UAV to fly according to the target flight trajectory, and controls the camera to capture the target photographic object according to the shooting position interval and the shooting attitude to obtain a captured image set.
  • the drone is controlled to fly according to the target flight trajectory, and during the flight of the drone along the target flight trajectory, according to the determined position information of the shooting point in the target flight trajectory and the shooting Point the corresponding PTZ shooting attitude to shoot the target subject, and get a picture
  • the captured image collection includes a plurality of captured images.
  • the drone sends the captured image set to the ground console.
  • the ground console receives the captured image set sent by the drone.
  • the ground console splices the at least part of the captured images according to an image range respectively captured by at least part of the captured images in the captured image set to generate a special effect image.
  • the image range respectively captured by the plurality of captured images in the captured image set is related to the curved curvature at the shooting position of the captured image.
  • the ground console acquires camera parameters of the camera and a shooting position and a shooting posture of the plurality of captured images that are previously recorded by the drone.
  • the camera refers to a camera mounted on the target camera, and the camera parameters and the shooting position and shooting posture of the plurality of captured images recorded in advance by the drone may be included in the image collection.
  • the ground console may send a parameter acquisition instruction to the drone, and the drone sends the instruction to the drone in response to the instruction after receiving the parameter acquisition instruction.
  • the image range respectively captured by the at least partial captured image is determined according to a shooting position and a shooting attitude of at least a portion of the captured images.
  • the image range intercepted by the captured image is inversely related to the curvature of curvature at the shooting position of the captured image.
  • the captured image in the non-curved portion of the target flight trajectory has the same image range; the captured position is in the image range captured by the captured image in the curved portion of the target flight trajectory and the captured position of the captured image
  • the curvature of the arc is inversely proportional, that is, the greater the curvature of the captured position of the captured image, the smaller the range of images captured by the captured image.
  • the ground console first determines the shooting order of the at least partially captured image according to the respective shooting positions of the at least part of the captured images and the target flight trajectory. Then, based on the photographing position and the photographing posture of the photographed image adjacent to any two of the photographing positions in the at least part of the photographed images, relative motion information between the photographed images adjacent to any two photographing positions is determined.
  • the relative motion information can be represented by a three-dimensional rotation matrix R and a three-dimensional translation vector t.
  • a two-dimensional affine transformation matrix A between the captured images adjacent to the arbitrary two shooting positions is determined.
  • the camera parameters include a focal length f, an optical center coordinate c x and c y , and the calculation formula is:
  • the generated effect image may be a panorama with special effects.
  • FIG. 2 taking four images P1, P2, P3, and P4 in the captured image set as an example for illustration, assuming that the shooting positions of P1 and P2 are adjacent and located in the non-curved portion of the target flight path.
  • the acquired P1 and P2 intercept the same range.
  • the unfilled portion in P1 is the range that P1 should intercept
  • the gray filled portion in P1 and the gray filled portion in P2 are the overlapping regions of P1 and P2, and the unfilled portion and gray in P2.
  • the filled portion is the range that P2 should intercept
  • the black filled portion in P2 is the overlapping area of P2 and the next adjacent image.
  • the two images P1 and P2 are spliced, and the generated special effect image is as shown in FIG. 2b.
  • the range intercepted by P3 during the splicing process should be larger than P4.
  • the scope of the interception As shown in Fig. 2c, the unfilled portion in P3 is the range that P3 should intercept, the gray filled portion in P3 and the gray filled portion in P4 are the overlapping regions of P3 and P4, and the unfilled portion and gray in P4.
  • the filled portion is the range that P4 should intercept, and the black filled portion in P4 is the overlapping area of P4 and the next adjacent image.
  • the shooting positions of P2 and P3 are adjacent, the two images P3 and P4 are spliced, and the generated special effect image is as shown in FIG. 2d.
  • the ground console splices the at least part of the captured image, and after generating the special effect image, the ground console may further receive a post-effect processing instruction input by the user, and respond to the generated special effect in response to the post-effect processing instruction.
  • the image is subjected to post-effect processing, and the special effect image after the post-effect processing is obtained.
  • the post-effect processing instruction includes performing geometric transformation processing such as rotation, distortion, and haze mirror transformation on the generated special effect image, and may further include adjusting and transforming the generated special effect image in hue, color, and style.
  • the target flight trajectory includes, but is not limited to, the following target flight trajectory for illustration.
  • the first target flight trajectory shown includes a first flight trajectory and a second flight trajectory, which is parallel to the target flight trajectory.
  • a portion of the target subject, that is, a portion parallel to the road, the second flight trajectory is a curved portion of the target flight trajectory, and the curvature of the second flight trajectory is increased from small to large.
  • the photographing position interval and the photographing posture determined according to the first target flight trajectory are that the photographing position intervals in the first flight locus are the same, and the photographing posture corresponding to the photographing position in the first flight locus is vertically oriented toward the target photographing object;
  • the photographing position interval in the second flight locus is changed from large to small, and the photographing posture corresponding to the photographing position in the second flight locus is inclined toward the target photographing object.
  • the image range respectively determined according to the photographing position and the photographing posture determined by the photographing position and the photographing posture of the photographed image set is that the image range of the photographed image in which the photographing position is in the first flight locus is the same; the photographing position is in the first
  • the range of images captured by the captured images in the two flight trajectories is reduced from large to small.
  • the generated special effect image effect is as shown in FIG. 3b.
  • the upper end portion of the figure corresponds to the non-curved portion of the first target flight path, so the effect of the upper end portion of the figure is straight and narrow; the lower end portion of the figure is due to the first target
  • the curved portion of the flight trajectory corresponds, and the curvature of the curve increases from small to large, so the effect of the lower end portion of the figure is that the road is curved and widened from narrow to wide, which can exhibit obvious near and far effects.
  • the shooting scene shown in FIG. 4a is that two people respectively stand at two ends of a straight road, and the second target flight trajectory includes a first flight trajectory, a second flight trajectory and a third flight trajectory, and the first flight
  • the line trajectory and the third flight trajectory are curved portions in the second target flight trajectory, and the curved curvature of the first flight trajectory is changed from large to small, and the curved curvature of the third flight trajectory is changed from small to large;
  • the second flight The trajectory is a portion of the second target flight trajectory that is parallel to the target subject.
  • the photographing position interval and the photographing posture determined according to the second target flight trajectory are that the photographing position interval in the first flight trajectory is increased from small to large, and the photographing posture corresponding to the photographing position in the first flight trajectory is tilted toward the target photographing object
  • the shooting position interval in the second flight trajectory is the same, and the shooting posture corresponding to the shooting position in the second flight trajectory is perpendicular to the target photographic subject; the shooting position interval in the third flight trajectory is changed from large to small, the third The shooting posture corresponding to the shooting position in the flight trajectory is inclined toward the target subject.
  • the range of the image captured by the captured image determined according to the shooting position and the shooting posture of the captured image in the plurality of captured images is that the range of the image captured by the captured image in the first flight trajectory is smaller or larger;
  • the image captured by the captured image in the second flight trajectory has the same range;
  • the image range captured by the captured image in the third flight trajectory is reduced from large to small.
  • the generated special effect image effect is as shown in FIG. 4b.
  • the middle portion of the figure corresponds to the non-curved portion of the second target flight trajectory, so that the effect of the middle portion of the figure is straight and narrow;
  • the upper end portion of the figure is due to the second target
  • the curved portion of the flight trajectory corresponds, and the curvature of the curve changes from large to small, so the effect of the upper end portion of the figure is that the road is curved and narrowed by the width, and the upper end portion is like the inverted side;
  • the lower end portion of the figure is due to the second target flight trajectory
  • the curved portion corresponds to each other, and the bending curvature is increased from small to large, so that the effect of the lower end portion of the figure is that the road is curved and widened from narrow.
  • the shooting scene shown in FIG. 5a is that two people stand at two ends of a straight road, and the third target flight trajectory includes a first flight trajectory, a second flight trajectory, a third flight trajectory, and a fourth flight trajectory.
  • the first flight trajectory and the fourth flight trajectory are portions of the third target flight trajectory that are parallel to the target photographic subject; the second flight trajectory and the third flight trajectory are curved portions of the third target flight trajectory, and the The curvature of the second flight trajectory increases from small to large, and the curvature of the third flight trajectory changes from large to small.
  • the photographing position interval and the photographing posture determined according to the third target flight trajectory are that the photographing position intervals in the first flight locus are the same, and the photographing posture corresponding to the photographing position in the first flight locus is vertically oriented toward the target photographing object;
  • the shooting position interval in the second flight trajectory changes greatly Small, the shooting position interval in the third flight trajectory is changed from small to large, and the second flight trajectory and the shooting posture corresponding to the shooting position in the third flight trajectory are inclined toward the target photographic subject; in the fourth flight trajectory
  • the shooting position intervals are the same, and the shooting posture corresponding to the shooting position in the fourth flight trajectory is perpendicular to the target photographic subject. It should be noted that the shooting position interval in the first flight trajectory may be the same as the shooting position interval in the fourth flight trajectory, or may be different.
  • the image range respectively determined according to the photographing position and the photographing posture determined by the photographing position and the photographing posture of the photographed image in the plurality of photographed images is that the photographed image in which the photographing position is in the first flight locus has the same image range; the photographing position is in the The range of the image captured by the captured image in the second flight trajectory is changed from large to small; the range of the image captured by the captured image in which the shooting position is in the third flight trajectory is changed from small to large; the captured image in which the shooting position is in the fourth flight trajectory The range of images captured is the same.
  • the generated special effect image effect is as shown in FIG. 5b.
  • the upper end and the lower end portion of the figure correspond to the non-curved portion of the third target flight path, so that the effects of the upper end and the lower end portion of the figure are straight and narrow, and the person seems to be an origin; Since the middle portion of the figure corresponds to the curved portion of the third target flight trajectory, and the bending curvature is changed from small to large, and then from large to small, the effect of the middle portion of the figure is that the road is prominent and wide.
  • the imaging effect of the road like a lenticular lens in the middle part of the figure.
  • the shooting scene shown in FIG. 6a is that four people stand at the four ends of two mutually perpendicular roads respectively, and the fourth target flight trajectory shown includes two second target flight trajectories shown in FIG. 4a, and the two The second target flight trajectory intersects perpendicularly at the midpoint.
  • the generated special effect image effect is as shown in FIG. 6b. In the special effect image shown in Fig.
  • the image is symmetrical in the upper and lower sides and the left and right sides respectively, and the person in the upper end portion of the figure and the person in the lower end portion of the figure oppose each other, and the person in the left end portion of the figure and the right end portion of the figure
  • the people in the opposite direction are like the imaging effect of a multi-faceted mirror.
  • the shooting scene shown in FIG. 6a may also be a person.
  • the person When the drone is photographed at one end of the road, the person is at the corresponding position of the certain end, when the drone is aimed at the certain After one end of the shooting is completed, the person immediately goes to the corresponding position of the lower end of the road that the drone is about to shoot.
  • the shooting scene shown in Fig. 6a can also be realized.
  • the target flight trajectory in the embodiment of the present invention may include only non- The curved portion may also include only the curved portion.
  • the target flight trajectory shown in FIG. 7a is a surrounding trajectory, and the drone can be controlled to fly and take pictures according to the surrounding trajectory horizontally surrounding the foreground shooting target.
  • the surrounding track may be circular or elliptical.
  • the drone can also be controlled to fly and take pictures according to the surrounding trajectory.
  • the target flight path shown in Figure 7b is a circular arc track.
  • the circular arc track may be a circular arc or an elliptical part of an arc corresponding to any angle, and may be in a horizontal direction or in a vertical direction.
  • the foreground shooting target in the figure is the above-mentioned target shooting object.
  • ground console splicing at least part of the image in the image set, and the process of generating the special effect image may also be performed by the drone.
  • specific processing refer to the above description, and details are not described herein again.
  • the special effect shooting control information sent by the ground console is received, and the shooting position interval and the shooting attitude are determined according to the target flight trajectory included in the special effect shooting control information, and then the drone is controlled to fly according to the target flight trajectory. And controlling the camera to shoot the target subject according to the shooting position interval and the shooting attitude, obtaining a captured image set, and finally transmitting the captured image set to the ground console, so that the ground console can shoot at least part of the captured image set.
  • the image is spliced to generate a special effect image, and the special effect image can be automatically generated according to the image collection captured by the drone, thereby improving the efficiency of generating the special effect image.
  • FIG. 8 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle described in the embodiment of the present invention includes: a processor 801, a communication interface 802, and a memory 803.
  • the processor 801, the communication interface 802, and the memory 803 can be connected by using a bus or other manners.
  • the processor 801 can be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or a combination of a CPU, a GPU, and an NP.
  • the processor 801 can also be a core for implementing communication identity binding in a multi-core CPU, a multi-core GPU, or a multi-core NP.
  • the processor 801 described above may be a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above PLD can be a complex programmable logic device (complex Programmable logic device (CPLD), field-programmable gate array (FPGA), general array logic (GAL), or any combination thereof.
  • CPLD complex Programmable logic device
  • FPGA field-programmable gate array
  • GAL general array logic
  • the above communication interface 802 can be used for transceiving information or signaling interactions, as well as receiving and transmitting signals.
  • the memory 803 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a storage program required for at least one function (such as a text storage function, a location storage function, etc.); the storage data area may be stored according to The data created by the use of the device (such as image data, text data), etc., and may include an application storage program or the like.
  • the memory 803 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the above memory 803 is also used to store program instructions.
  • the processor 801 can invoke the program instructions stored in the memory 803 to implement an image processing method as shown in the embodiment of the present invention. specifically:
  • the communication interface 802 is configured to receive special effect shooting control information sent by a ground console, where the special effect shooting control information includes a target flight trajectory;
  • the processor 801 is configured to determine a shooting position interval and a shooting attitude according to the target flight trajectory, wherein a shooting position interval in the non-curved portion of the target flight trajectory is the same, and a shooting position in the curved portion of the target flight trajectory The interval is smaller than a photographing position interval in the non-curved portion, the photographing posture is toward the target photographing object;
  • the processor 801 is further configured to control the drone to fly according to the target flight trajectory, and control the camera to shoot the target photographic object according to the shooting position interval and the shooting attitude, to obtain a captured image set.
  • the captured image set includes a plurality of captured images
  • the communication interface 802 is further configured to send the captured image set to the ground console, so that the ground console splices at least a portion of the captured images in the captured image set to generate a special effect image.
  • the method performed by the processor in the embodiment of the present invention is described from the perspective of a processor. It can be understood that the processor in the embodiment of the present invention needs to cooperate with other hardware structures to perform the above method. The specific implementation process is not described and limited in detail in the embodiments of the present invention.
  • the shooting position interval in the curved portion of the target flight trajectory is inversely related to the bending curvature at the curved portion.
  • the special effect shooting control information is according to the pre-recorded The flight path of the drone is generated.
  • the special effect shooting control information is generated according to a flight trajectory previously drawn by a user.
  • the target flight trajectory includes a first flight trajectory and a second flight trajectory, where the first flight trajectory is a portion of the target flight trajectory parallel to the target photographic subject, the first The two flight trajectories are curved portions of the target flight trajectory, and the curvature of the second flight trajectory is increased from small to large.
  • the processor 801 is specifically configured to determine a shooting position interval and a shooting attitude according to the first flight trajectory and the second flight trajectory.
  • the shooting positions in the first flight trajectory are the same, the shooting posture corresponding to the shooting position in the first flight trajectory is perpendicular to the target photographic subject; the shooting position interval in the second flight trajectory is changed from large to small The shooting posture corresponding to the shooting position in the second flight trajectory is inclined toward the target photographic subject.
  • the target flight trajectory includes a first flight trajectory, a second flight trajectory, and a third flight trajectory; the first flight trajectory and the third flight trajectory are curved in the target flight trajectory a portion in which the curvature of the first flight trajectory is changed from large to small, and the curvature of the third flight trajectory is changed from small to large; the second flight trajectory is taken in the target flight trajectory parallel to the target The part of the object.
  • the processor 801 is specifically configured to determine a shooting position interval and a shooting attitude according to the first flight trajectory, the second flight trajectory, and the third flight trajectory.
  • the shooting position interval in the first flight trajectory is increased from small to small, and the shooting posture corresponding to the shooting position in the first flight trajectory is inclined toward the target photographic subject; the shooting position interval in the second flight trajectory is the same a shooting posture corresponding to the shooting position in the second flight trajectory is vertically oriented toward the target photographic subject; a shooting position interval in the third flight trajectory is changed from large to small, and a shooting position in the third flight trajectory corresponds to The shooting posture is tilted toward the target subject.
  • the target flight path includes a first flight trajectory, a second flight trajectory, a third flight trajectory, and a fourth flight trajectory; the first flight trajectory and the fourth flight trajectory are a portion of the target flight trajectory parallel to the target photographic subject; the second flight trajectory and the third flight trajectory being curved portions of the target flight trajectory, the second flight trajectory.
  • the bending curvature is increased from small to large, and the bending curvature of the third flight trajectory is changed from large to small.
  • the processor 801 is specifically configured to determine a shooting position interval and a shooting attitude according to the first flight trajectory, the second flight trajectory, the third flight trajectory, and the fourth flight trajectory.
  • the shooting positions in the first flight trajectory are the same, the shooting posture corresponding to the shooting position in the first flight trajectory is perpendicular to the target photographic subject; the shooting position interval in the second flight trajectory is changed from large to small a shooting posture corresponding to the shooting position in the second flight trajectory is inclined toward the target photographic subject; a shooting position interval in the third flight trajectory is increased from small to large, and a shooting position in the third flight trajectory corresponds to The shooting posture is inclined toward the target photographic subject; the shooting positions in the fourth flight trajectory are the same, and the shooting posture corresponding to the shooting position in the fourth flight trajectory is perpendicular to the target photographic subject.
  • the processor 801, the communication interface 802, and the memory 803, which are described in the embodiments of the present invention, may be implemented in an image processing method according to an embodiment of the present invention. Let me repeat.
  • the special effect shooting control information sent by the ground console is received, and the shooting position interval and the shooting attitude are determined according to the target flight trajectory included in the special effect shooting control information, and then the drone is controlled to fly according to the target flight trajectory. And controlling the camera to shoot the target subject according to the shooting position interval and the shooting attitude, obtaining a captured image set, and finally transmitting the captured image set to the ground console, so that the ground console can shoot at least part of the captured image set.
  • the image is spliced to generate a special effect image, and the special effect image can be automatically generated according to the image collection captured by the drone, thereby improving the efficiency of generating the special effect image.
  • FIG. 9 is a schematic structural diagram of a ground console according to an embodiment of the present invention.
  • the ground console described in the embodiment of the present invention includes: a processor 901, a communication interface 902, and a memory 903.
  • the processor 901, the communication interface 902, and the memory 903 can be connected by using a bus or other manners.
  • the processor 901 may be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or a combination of a CPU, a GPU, and an NP.
  • the processor 901 may also be a core for implementing communication identity binding in a multi-core CPU, a multi-core GPU, or a multi-core NP.
  • the processor 901 described above may be a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the communication interface 902 described above can be used for transceiving information or signaling interactions, as well as receiving and transmitting signals.
  • the memory 903 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a storage program required for at least one function (such as a text storage function, a location storage function, etc.); the storage data area may be stored according to The data created by the use of the device (such as image data, text data), etc., and may include an application storage program or the like.
  • the memory 903 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the above memory 903 is also used to store program instructions.
  • the processor 901 can invoke the program instructions stored in the memory 903 to implement an image processing method as shown in the embodiment of the present invention. specifically:
  • the processor 901 is configured to acquire a special effect image type, and determine special effect shooting control information corresponding to the special effect image type, where the special effect shooting control information includes a target flight trajectory;
  • the communication interface 902 is configured to send the special effect shooting control information to the drone, so that the drone determines the shooting position interval and the shooting attitude according to the target flight trajectory, and the non-curved portion of the target flight trajectory
  • the photographing position intervals in the same are the same, the photographing position interval in the curved portion of the target flight locus is smaller than the photographing position interval in the non-curved portion, the photographing posture is toward the target photographing object;
  • the communication interface 902 is further configured to receive a captured image set sent by the drone, and the captured image set includes a plurality of captured images that are in the process of flying by the drone according to the target flight path. Controlling the camera to capture the target photographic subject according to the shooting position interval and the shooting attitude;
  • the processor 901 is further configured to splice the at least part of the captured image according to an image range that is respectively captured by at least part of the captured images in the captured image set, to generate a special effect image, and the image range captured by the captured image is The curvature of the captured position of the captured image is related.
  • the shooting position interval in the curved portion of the target flight trajectory is inversely related to the bending curvature at the curved portion.
  • the range of images captured by the captured image is inversely related to the curvature of curvature at the location of the captured image.
  • the special effect shooting control information is generated according to a pre-recorded flight path of the drone.
  • the special effect shooting control information is generated according to a flight trajectory previously drawn by a user.
  • the processor 901 is configured to: when the at least part of the captured image is spliced according to the image range that is captured by the at least part of the captured image in the captured image set, and is used to generate the special effect image, specifically:
  • the target flight trajectory includes a first flight trajectory and a second flight trajectory, where the first flight trajectory is a portion of the target flight trajectory parallel to the target photographic subject, the first The two flight trajectories are curved portions of the target flight trajectory, and the curvature of the second flight trajectory is increased from small to large.
  • the image range captured by the captured image in the first flight trajectory is the same; the image range captured by the captured image in the second flight trajectory is changed from large to small.
  • the target flight trajectory includes a first flight trajectory, a second flight trajectory, and a third flight trajectory; the first flight trajectory and the third flight trajectory are curved in the target flight trajectory a portion in which the curvature of the first flight trajectory is changed from large to small, and the curvature of the third flight trajectory is changed from small to large; the second flight trajectory is parallel to the target flight trajectory The part of the target subject.
  • the range of the image captured by the captured image in the first flight trajectory is from small to large; the range of the image captured by the captured image in the second flight trajectory is the same; the shooting position is in the third The range of images captured by the captured image in the flight trajectory is reduced from large to small.
  • the target flight path includes a first flight trajectory, a second flight trajectory, a third flight trajectory, and a fourth flight trajectory; the first flight trajectory and the fourth flight trajectory are a portion of the target flight trajectory parallel to the target photographic subject; the second flight trajectory and the third flight trajectory are curved portions of the target flight trajectory, and the curved curvature of the second flight trajectory changes from small to small Large, the curvature of the third flight trajectory is changed from large to small.
  • the image range captured by the captured image in the first flight trajectory is the same; the image range captured by the captured image in the second flight trajectory is changed from large to small; the shooting position is in the third The range of the image captured by the captured image in the flight trajectory is increased from small to large; the range of the image captured by the captured image in the fourth flight trajectory is the same.
  • the communication interface 902 is further configured to receive a post-effect processing instruction input by a user.
  • the processor 902 is further configured to perform post-effect processing on the special effect image in response to the post-effect processing instruction to obtain a special effect image after the post-effect processing.
  • the post-effect processing instructions include rotation, distortion, tone adjustment, color adjustment, and transformation style.
  • the processor 901, the communication interface 902, and the memory 903 described in the embodiments of the present invention may be implemented on the ground console side described in an image processing method provided by an embodiment of the present invention. Let me repeat.
  • the special effect shooting control information sent by the ground console is received, and the shooting position interval and the shooting attitude are determined according to the target flight trajectory included in the special effect shooting control information, and then the drone is controlled to fly according to the target flight trajectory. And controlling the camera to shoot the target subject according to the shooting position interval and the shooting attitude, obtaining a captured image set, and finally transmitting the captured image set to the ground console, so that the ground console can shoot at least part of the captured image set.
  • the image is spliced to generate a special effect image, and the special effect image can be automatically generated according to the image collection captured by the drone, thereby improving the efficiency of generating the special effect image.
  • FIG. 10 is a schematic structural diagram of an image processing system according to an embodiment of the present invention.
  • the image processing system described in the embodiments of the present invention includes:
  • the ground console 1001 is configured to acquire a special effect image type, and determine special effect shooting control information corresponding to the special effect image type, where the special effect shooting control information includes a target flight trajectory.
  • the ground console 1001 is further configured to send the special effect shooting control information to the drone.
  • the drone 1002 is configured to receive the special effect shooting control information sent by the ground console.
  • the drone 1002 is further configured to determine a shooting position interval and a shooting posture according to the target flight trajectory, wherein a shooting position interval in the non-curved portion of the target flight trajectory is the same, and the curved portion of the target flying trajectory
  • the photographing position interval is smaller than a photographing position interval in the non-curved portion, the photographing posture being toward the target photographing subject.
  • the shooting position interval in the curved portion of the target flight trajectory is inversely related to the bending curvature at the curved portion.
  • the drone 1002 is further configured to control the drone to fly according to the target flight trajectory, and control the camera to capture the target photographic object according to the shooting position interval and the shooting attitude, to obtain a captured image set.
  • the captured image set includes a plurality of captured images.
  • the drone 1002 is further configured to send the captured image set to the ground console.
  • the ground console 1001 is further configured to receive a captured image set sent by the drone.
  • the ground console 1001 is further configured to splice the at least part of the captured image according to an image range respectively captured by at least part of the captured images in the captured image set, to generate a special effect image, and the image range captured by the captured image It is related to the curvature of curvature at the photographing position of the captured image.
  • the range of images captured by the captured image is inversely related to the curvature of curvature at the location of the captured image.
  • the special effect shooting control information is generated according to a pre-recorded flight path of the drone.
  • the special effect shooting control information is generated according to a flight trajectory previously drawn by a user.
  • ground console 1001 and the drone 1002 of the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the foregoing method.
  • the related description of the example is not described here.
  • the drone 1002 first receives the special effect shooting control information sent by the ground console 1001, and determines the shooting position interval and the shooting attitude according to the target flight trajectory included in the special effect shooting control information, and then controls the drone to follow the The target flight path is flighted, and the camera is controlled to shoot the target object according to the shooting position interval and the shooting attitude, the captured image set is obtained, and finally the captured image set is sent to the ground console 1001, so that the ground console can capture the captured image. At least part of the captured images in the set are spliced to generate a special effect image, and the special effect image can be automatically generated according to the image set captured by the drone 1002, thereby improving the efficiency of generating the special effect image.
  • the embodiment of the present invention further provides a computer readable storage medium, wherein the computer readable storage medium stores instructions, when executed on a computer, causing the computer to execute the image processing method described in the foregoing method embodiments.
  • the embodiment of the invention further provides a computer program product comprising instructions, which when executed on a computer, causes the computer to execute the image processing method described in the above method embodiment.
  • the program can be stored in a computer readable storage medium, and the storage medium can include: Flash disk, Read-Only Memory (ROM), Random Access Memory (RAM), disk or optical disk.

Abstract

L'invention concerne un procédé de traitement d'image, un véhicule aérien sans pilote, une console au sol et un système de traitement d'image associé. Le procédé de traitement d'image consiste à : recevoir des informations de commande de prise de vues à effets spéciaux envoyées par une console au sol ; déterminer, selon un trajet de vol cible compris dans les informations de commande de prise de vues à effets spéciaux, un intervalle de position de prise de vues et une orientation de prise de vues, les intervalles entre positions de prise de vues de segments non incurvés du trajet de vol cible étant identiques et les intervalles entre positions de prise de vues de segments incurvés du trajet de vol cible étant plus petits que ceux des sections non incurvées, et l'orientation de prise de vues fait face à un objet de prise de vues cible ; commander un véhicule aérien sans pilote pour voler selon le trajet de vol cible, et commander, en fonction de l'intervalle de position de prise de vues et de l'orientation de prise de vues, un appareil de prise de vues pour effectuer des prises de vues d'un objet de prise de vues cible, de façon à obtenir un ensemble d'images ; et envoyer l'ensemble d'images à une console au sol, de telle sorte que la console au sol compile au moins une partie des images dans l'ensemble d'images en vue de produire une image à effets spéciaux. Le procédé de traitement d'image produit automatiquement une image à effets spéciaux selon un ensemble d'images capturé et obtenu par un véhicule aérien sans pilote, ce qui permet d'améliorer l'efficacité de la production d'image à effets spéciaux.
PCT/CN2017/095340 2017-07-31 2017-07-31 Procédé de traitement d'image, véhicule aérien sans pilote, console au sol et système de traitement d'image associé WO2019023914A1 (fr)

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PCT/CN2017/095340 WO2019023914A1 (fr) 2017-07-31 2017-07-31 Procédé de traitement d'image, véhicule aérien sans pilote, console au sol et système de traitement d'image associé

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