WO2020014953A1 - Procédé et dispositif de traitement d'image - Google Patents

Procédé et dispositif de traitement d'image Download PDF

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Publication number
WO2020014953A1
WO2020014953A1 PCT/CN2018/096410 CN2018096410W WO2020014953A1 WO 2020014953 A1 WO2020014953 A1 WO 2020014953A1 CN 2018096410 W CN2018096410 W CN 2018096410W WO 2020014953 A1 WO2020014953 A1 WO 2020014953A1
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WO
WIPO (PCT)
Prior art keywords
drone
shooting
subject
photographing
image data
Prior art date
Application number
PCT/CN2018/096410
Other languages
English (en)
Chinese (zh)
Inventor
李阳
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 PCT/CN2018/096410 priority Critical patent/WO2020014953A1/fr
Priority to CN201880037065.XA priority patent/CN110720209B/zh
Publication of WO2020014953A1 publication Critical patent/WO2020014953A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio

Definitions

  • the present invention relates to the field of image processing technology, and in particular, to an image processing method and device.
  • Stop motion animation is to shoot an object frame by frame and then project the captured images continuously to produce an animation effect.
  • freeze-frame animation is shot by a handheld device, and the shooting angle is limited by the position of the photographer, which results in insufficient freedom of the picture.
  • Embodiments of the present invention provide an image processing method and device, which can obtain a stop motion animation with a more stable picture.
  • an embodiment of the present invention provides an image processing method, which is applied to a drone system including a photographing device, and the method includes:
  • control rule is used to control the drone to maintain the position relationship with the photographic subject
  • an embodiment of the present invention provides an image processing device, which is applied to a drone system including a photographing device, and the image processing device includes a memory, a controller, and a photographing device;
  • the memory is used to store program instructions
  • the controller is configured to execute a program instruction stored in the memory.
  • the controller is configured to perform the following steps:
  • a plurality of image data are obtained by photographing the photographed subject through the photographing device, and the plurality of image data is used to generate a stop motion animation at a preset frame rate.
  • an embodiment of the present invention provides a drone, including a body and a shooting device of the drone;
  • the photographing device is mounted on the body of the drone, or is provided on a gimbal, and is mounted on the body of the drone through the gimbal;
  • the drone further includes a controller and a memory, and the controller is configured to call code stored in the memory to execute the image processing method according to the first aspect.
  • an embodiment of the present invention provides a computer-readable storage medium, where the computer storage medium stores a computer program, the computer program includes program instructions, and the program instructions, when executed by a controller, cause the control
  • the processor executes the image processing method according to the first aspect.
  • an embodiment of the present invention provides a computer program product.
  • the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to make a computer implement the first aspect The image processing method.
  • the drone can be controlled to maintain the positional relationship with the subject based on control rules, and the subject is photographed by a photographing device to obtain multiple pictures or multiple Video to generate stop motion animation, which makes the subject more stable in the picture, and enriches the shooting perspective of stop motion animation.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of another drone system according to an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of an image processing method according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an image processing device according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a drone provided by an embodiment of the present invention.
  • the image processing method provided by the embodiment of the present invention is applied to a drone system including a shooting device.
  • the drone system may include a drone, a control device, a display device, and a shooting device.
  • the control device and the display device may be integrated.
  • the shooting device can be directly mounted on the body or main body of the drone, or it can be mounted on the drone through the gimbal.
  • control device may be a control terminal of a drone, and specifically may be a remote controller, a smart phone, a tablet computer, a laptop computer, a ground station, a wearable device (watch, bracelet) One or more.
  • the display device is used to display a picture or video taken by the drone, and to display the stop motion animation generated.
  • the control device and the display device may be located in the same casing, that is, integrated into the same device, or may be physically separated devices, that is, belong to different devices.
  • the drone may be a rotary wing drone, such as a quad-rotor drone, a six-rotor drone, an eight-rotor drone, or a fixed-wing drone.
  • the UAV includes a power system, which is used to provide flying power for the UAV.
  • the power system includes one or more of a propeller, a motor, and an ESC. It can be understood that the drone may also be an unmanned vehicle or an unmanned ship.
  • the photographing device may be directly mounted on the body or main body of the drone, or may be mounted on the body or main body of the drone through the gimbal.
  • the shooting device is used for shooting image data during the flight of the drone.
  • the shooting device includes, but is not limited to, a multi-spectral imager, a hyper-spectral imager, a visible light camera, and an infrared camera.
  • the gimbal motor compensates the shooting angle of the shooting device by adjusting the rotation angle of the rotating shaft, and prevents or reduces the shake of the shooting device by setting an appropriate buffer mechanism.
  • the image data includes pictures or videos.
  • FIG. 1 is a schematic structural diagram of a drone system according to an embodiment of the present invention.
  • the drone 12 can execute the image processing method according to the embodiment of the present invention.
  • the drone 12 is provided with a photographing device 121.
  • the photographing device 121 is arranged on the gimbal 122, and the gimbal 122 is mounted on the main body of the drone 12.
  • the power system of the drone 12 uses the propeller 123 as an example, and the control device 11 can operate the drone 12 flight.
  • FIG. 2 is a schematic structural diagram of another drone system provided by an embodiment of the present invention.
  • the drone 22 may also execute the image processing method according to the embodiment of the present invention.
  • the drone 22 is also provided with a photographing device 221, wherein the photographing device 221 provided by the drone 22 is directly mounted on the main body of the drone 22.
  • the power system of the drone 22 uses the propeller 222 as an example.
  • the control device 11 takes an integrated display device as an example, and can display a plurality of pictures or videos taken, and can also display a generated image at a preset frame rate. Stop motion animation.
  • the difference between the drone system shown in FIG. 1 and FIG. 2 is that the shooting device shown in FIG. 1 is set on the gimbal, and is mounted on the body of the drone through the gimbal, so based on the control rules When controlling the drone flight to maintain the positional relationship between the drone and the subject, it can also be achieved by adjusting the attitude of the gimbal.
  • the photographing device shown in FIG. 2 is directly mounted on the body of the drone, so when maintaining the positional relationship between the drone and the subject, in addition to controlling the flying attitude of the drone, you can also adjust the shooting parameters by Focus or attitude of the drone to maintain the positional relationship between the drone and the subject.
  • the drone 12 in FIG. 1 or the drone 22 in FIG. 2 can obtain the positional relationship between the shooting object and the drone, and control the drone to fly based on the control rule to maintain Positional relationship with the photographic subject, and photographing the photographic subject through the photographing device to obtain a plurality of image data, so that a stop motion animation can be generated at a preset frame rate based on the plurality of image data.
  • the drone may send the plurality of image data to a control device, such as the control device 11 in FIG. 1 or the control device 21 in FIG. 2, and generate a stop motion animation at a preset frame rate based on the plurality of image data.
  • a control device such as the control device 11 in FIG. 1 or the control device 21 in FIG. 2
  • the control device 11 in FIG. 1 or the control device 21 in FIG. 2 may be configured with an image processing device and / or a display device.
  • control rule may be a control rule set by a user through a control device, such as a remote control device; and may also be a control rule output by a drone based on the detection of the surrounding environment by a sensor.
  • a control device such as a remote control device
  • This embodiment of the present invention does not do limited.
  • the drone is controlled to maintain the positional relationship between the drone and the subject, thereby making the subject more stable in the shooting picture.
  • a drone has a vision sensor, which can observe the surrounding environment in depth and obtain depth information to determine the positional relationship between the subject and the drone. Therefore, when the position of the subject changes , The drone can compensate its positional relationship with the subject, for example, make corresponding compensation from the height and / or horizontal distance, so as to maintain the positional relationship with the subject, so that the The position of the subject remains relatively stable, making the shooting effect of the stop motion animation more stable and smooth.
  • the positional relationship between the subject and the drone can also be maintained in other ways, for example, the control device maintains the relationship between the subject and the drone by adjusting the flying attitude of the drone. Positional relationship, or adjust the attitude of the PTZ to maintain the positional relationship between the subject and the drone.
  • the position of the object photographed by the photographing device in the frame can be kept stable by adjusting the photographing parameters. For example, focus is adjusted to keep the size and position of the subject in the frame the same.
  • the drone can also use vision technology to maintain the same size and position of the subject in the picture so as to maintain the positional relationship between the subject and the drone.
  • Manual control equipment is needed to maintain the positional relationship between the subject and the drone.
  • the embodiment of the present invention adopts a drone system to shoot a stop motion animation, which can ensure the stability of the subject in the shooting frame compared with the conventional method of shooting a stop motion animation by using a handheld device; meanwhile, the embodiment of the present invention Compared with the limitation of the shooting position of the handheld device due to the position of the photographer, various shooting angles can also be adopted, which enriches the shooting angle, such as a bird's-eye view, to take pictures or videos required for stop motion animation.
  • the image processing method may be executed under a combination of multiple modes. For example, smart mode, non-smart mode, sports mode, fixed mode, manual shooting mode, and automatic shooting mode.
  • the intelligent mode means that the drone or the gimbal on the drone can follow the subject. That is, when the position of the subject changes, the drone automatically controls the drone or the attitude of the drone also changes, so as to maintain the same positional relationship with the subject. For example, when the subject moves to the left of the shooting screen, the drone itself controls the drone or the drone controls the attitude change of the gimbal, so that the subject is still in the middle of the shooting screen.
  • Non-intelligent mode means that the drone or the gimbal on the drone will not follow the subject.
  • the user needs to manually operate the control device to remotely control the drone or PTZ attitude. For example, when the subject moves to the left of the shooting screen, the user needs to operate an interactive device such as a joystick on the control device to adjust the attitude of the drone or the PTZ so that the subject is still in the middle of the shooting screen.
  • the motion mode refers to the drone in the flight process, the drone takes a picture or video required for stop motion animation through the shooting device.
  • the drone takes a picture or video required for stop motion animation through the shooting device.
  • Fixed mode means that when the drone is in the hovering state, the drone or the control device takes the picture or video required for the stop motion animation through the shooting device. In this way, the drone can be controlled by adjusting the shooting parameters or the attitude of the gimbal Maintain the positional relationship with the subject.
  • the manual shooting mode means that when shooting a subject with shooting parameters, the user needs to shoot manually; while in the automatic shooting mode, the drone can automatically shoot at preset time intervals through the shooting device.
  • the user can send an automatic shooting instruction to the drone through the control device, so that the drone can take multiple pictures or multiple short videos at preset time intervals through the shooting device in the automatic shooting mode.
  • the image processing method may be executed under a combination of multiple modes.
  • the intelligent mode may be combined with the motion mode or the fixed mode, respectively, and the image processing method according to the embodiment of the present invention is executed in the intelligent motion mode or the intelligent fixed mode.
  • the non-intelligent mode may be combined with the motion mode or the fixed mode, respectively, and the image processing method according to the embodiment of the present invention is executed in the non-intelligent motion mode or the non-intelligent fixed mode.
  • the manual shooting mode may be combined with a sports mode or a fixed mode, respectively, and the image processing method according to the embodiment of the present invention is performed in the sports mode or the fixed mode.
  • the automatic shooting mode may be combined with the sports mode or the fixed mode, respectively, and the image processing method according to the embodiment of the present invention is executed in the sports mode or the fixed mode.
  • FIG. 3 is a schematic flowchart of an image processing method according to an embodiment of the present invention.
  • the image processing method shown in FIG. 3 may be applied to a drone.
  • the image processing method may include the following steps:
  • obtaining the positional relationship between the shooting object and the drone includes: obtaining a shooting picture selected by a user, and obtaining depth information of the shooting object relative to the shooting device or the drone based on a visual sensor; based on The depth information acquires a positional relationship between the drone and a subject in the shooting frame.
  • the shooting picture selected by the user may specifically be a shooting picture when the user controls the first picture taken by the shooting device through the control device.
  • control rule is specifically configured to control the drone to maintain the positional relationship with the photographed object while the drone is in flight. In this way, when the subject moves, the flight trajectory or attitude of the drone can be adjusted to maintain the positional relationship with the subject.
  • control rule is specifically configured to control the drone to maintain the position relationship with the photographed object when the drone is in a hovering state.
  • the control rule is specifically configured to control the drone to maintain the position relationship with the photographed object when the drone is in a hovering state.
  • controlling the drone's flight based on control rules includes: receiving a follow mode instruction; and when the follow mode instruction is a follow mode, adjusting the attitude of the drone, the At least one of a posture of the photographing device and a posture of the pan / tilt where the photographing device is located to follow the photographed object.
  • the following mode may also be referred to as the intelligent following mode described above.
  • controlling the drone's flight based on control rules includes: receiving a follow mode instruction; when the follow mode instruction is a non-follow mode, the drone needs to receive a user input through a control device To adjust the flying attitude of the drone or the attitude of the gimbal to follow the subject.
  • the non-following mode may also be referred to as the non-intelligent following mode described above.
  • the above-mentioned four embodiments may be combined with each other, and the position relationship between the drone and the photographic subject is maintained in the following mode or the non-following mode when the drone is in flight; In hover state, maintain the positional relationship between the drone and the subject in follow mode or non-follow mode.
  • the embodiment of the present invention is not limited.
  • shooting the subject through a shooting device to obtain multiple pictures or videos includes: receiving a shooting instruction input by a user; responding to the shooting instruction, using the shooting device Shooting the subject to obtain multiple pictures or multiple videos. Among them, each picture corresponds to a shooting instruction.
  • shooting the subject to obtain multiple pictures includes: shooting the subject through the shooting device at a preset time interval to obtain multiple pictures.
  • the drone or the shooting device can perform automatic shooting at preset time intervals when receiving an automatic shooting instruction.
  • the image processing method may further include: acquiring a shooting parameter set by the shooting device.
  • the shooting object may be shot by the shooting device with the shooting parameter to obtain multiple pictures or multiple videos.
  • the set shooting parameters may be: the shooting parameters set by the user each time a shooting instruction is entered in the manual shooting mode; or the shooting parameters set by the user in advance in the automatic shooting mode; or, according to the user's selection
  • the shooting parameters determined by the shooting screen may be correspondingly stored in a database.
  • obtaining the positional relationship between the photographic subject and the drone includes: obtaining the positional relationship between the photographic subject and the drone from a database and shooting parameters.
  • This embodiment can realize the shooting connection of multiple flights. For example, after a user obtains multiple pictures of a subject according to the position relationship and shooting parameters in scene A, the user may obtain multiple pictures of the subject according to the position relationship and shooting parameters in scene B.
  • the expressiveness of the generated stop motion animation is richer.
  • shooting parameters may be adjusted by a preset range; and the shooting object is shot based on the adjusted shooting parameters.
  • the shooting parameter may be at least one of a filter, a color style, a special effect, a focal length, a shutter, an aperture, and a sensitivity value ISO. In this way, the captured multiple pictures or videos can have certain changes, making the final stop motion animation more exciting.
  • the multiple pictures or videos are used to generate a stop motion animation at a preset frame rate.
  • the preset frame rate may be set by a user through a control device or a display device, or may be sent to a control device or a drone by using other controls or instructions.
  • the control device or the drone may send the multiple frames
  • a picture or multiple videos generates a stop motion animation at a preset frame rate, where the control device can receive multiple pictures or multiple videos taken by the drone.
  • the embodiment of the present invention can control the drone to maintain the positional relationship with the photographic subject, and photograph the photographic subject through a photographing device to obtain multiple pictures or multiple videos, so that the photographing The subject is more stable in the frame and enriches the shooting angle of the stop motion animation.
  • FIG. 4 is a schematic structural diagram of an image processing device according to an embodiment of the present invention.
  • the image processing device may be set in a drone. As shown in FIG. 4, the image processing device may include:
  • An acquisition module 301 configured to acquire a positional relationship between a shooting object and a drone
  • a control module 302 is configured to control the drone flying based on a control rule, where the control rule is used to control the drone to maintain the position relationship with the photographic subject, and The subject is photographed to obtain multiple pictures or multiple videos.
  • the image processing device may further include a generating module configured to generate a stop motion animation at a preset frame rate based on the multiple pictures or multiple videos.
  • the image processing device may further include a communication module, which is configured to send the multiple pictures or videos to the control device, and the control device generates a freeze frame at a preset frame rate. Animation.
  • the obtaining module 301 obtains the positional relationship between the photographic subject and the drone, which is specifically:
  • control rule is specifically configured to control the drone to maintain the positional relationship with the photographed object while the drone is in flight;
  • control module 302 photographs the photographed object through a photographing device to obtain multiple pictures or multiple videos, specifically:
  • control module 302 photographs the photographed object through a photographing device to obtain multiple pictures or multiple videos, specifically:
  • the photographing subject is photographed by the photographing device to obtain multiple pictures or multiple videos.
  • control module 302 controls the drone flight based on a control rule, specifically:
  • the following mode instruction is a following mode
  • the obtaining module 301 obtains the positional relationship between the photographic subject and the drone, which is specifically:
  • the positional relationship and shooting parameters between the photographic object and the drone are obtained from a database, and the positional relationship and the shooting parameters required for shooting a stop motion animation are stored in the database in advance.
  • control module 302 shoots the photographic object to obtain multiple pictures or multiple videos, including:
  • control module 302 photographs the photographed object through a photographing device to obtain multiple pictures or multiple videos, including:
  • shooting the subject Based on the adjusted shooting parameters, shooting the subject to obtain multiple pictures or multiple videos.
  • FIG. 5 is a schematic structural diagram of a drone provided by an embodiment of the present invention.
  • the drone shown in FIG. 5 may also include each module shown in FIG. 4 to perform operations of each module shown in FIG. 4.
  • the drone may include at least one controller 401, such as a CPU; at least one memory 402, and a communication device 403.
  • the drone also includes at least one photographing device 404.
  • the photographing device 404 can be directly mounted on the body or the main body of the drone, or can be installed on the gimbal, and mounted on the drone through the gimbal.
  • the controller 401, the memory 402, the communication device 403, and the imaging device 404 are connected via a bus 405.
  • the memory 402 is configured to store program instructions
  • the controller 401 is configured to execute a program instruction stored in the memory 402. When the program instruction is executed, the controller 401 is configured to perform the following steps:
  • the multiple pictures or videos are used to generate a stop motion animation at a preset frame rate.
  • the controller 401 may generate a stop motion animation at a preset frame rate based on the multiple pictures or videos.
  • the controller 401 may send the multiple pictures or videos to the display device or a remote control device integrated with the display device through the communication device 403, and the display device or the remote control device may The multiple pictures or videos generate a stop motion animation at a preset frame rate.
  • the controller 401 calls a program instruction stored in the memory 402 to obtain a positional relationship between the photographic object and the drone, which is specifically:
  • control rule is specifically configured to:
  • the controller 401 invokes a program instruction stored in the memory 402, and uses the photographing device to photograph the photographed object according to the photographing parameters to obtain multiple pictures, specifically:
  • the controller 401 calls a program instruction stored in the memory 402 to shoot the photographed object to obtain multiple pictures or multiple videos, specifically:
  • the photographing subject is photographed by the photographing device to obtain multiple pictures or multiple videos.
  • the controller 401 calls program instructions stored in the memory 402 to control the drone flying based on a control rule, specifically:
  • the following mode instruction is a following mode
  • the controller 401 calls a program instruction stored in the memory 402 to obtain a positional relationship between the photographic object and the drone, which is specifically:
  • the positional relationship and shooting parameters between the photographic object and the drone are obtained from a database, and the positional relationship and the shooting parameters required for shooting a stop motion animation are stored in the database in advance.
  • the controller calls a program instruction stored in the memory 402 to shoot the subject to obtain multiple pictures or videos. Specifically, the controller shoots the subject according to the shooting parameters to obtain multiple pictures. Pictures or multiple videos.
  • the controller 401 calls a program instruction stored in the memory 402 to shoot the photographed object to obtain multiple pictures or multiple videos, specifically:
  • shooting the subject Based on the adjusted shooting parameters, shooting the subject to obtain multiple pictures or multiple videos.
  • controller 401 for specific implementation of the controller 401 in this embodiment of the present invention, reference may be made to the description of related content in the foregoing embodiments, and details are not described herein.
  • An embodiment of the present invention further provides a drone system.
  • the drone system includes a control device, a photographing device, and a drone.
  • the photographing device can be set on a gimbal and then mounted on the drone through the gimbal. Or the camera can be mounted directly on the drone.
  • the drone is used to obtain the positional relationship between the subject and the drone, and controls the drone to fly based on a control rule, and the control rule is used to control the drone to maintain a relationship with the subject.
  • the stop motion animation may be generated by a drone, or the drone may send the multiple pictures or videos to a control device, and the control device generates a stop motion animation with a preset frame rate.
  • the drone is used to obtain the positional relationship between the shooting object and the drone, which is specifically:
  • control rule is specifically configured to:
  • the drone controls the drone to maintain the position relationship with the photographic subject
  • the drone controls the drone to maintain the positional relationship with the photographic subject.
  • the drone is configured to capture the photographic object through a photographing device to obtain multiple pictures or multiple videos, specifically:
  • the drone receives the shooting instruction input by the user
  • the drone shoots the subject through the shooting device to obtain multiple pictures or multiple videos.
  • the drone is configured to capture the photographic object through a photographing device to obtain multiple pictures or multiple videos, specifically:
  • the drone shoots the subject through the shooting device to obtain multiple pictures or multiple videos.
  • the drone is used to control the drone's flight based on the control rules, specifically:
  • the following mode instruction is a following mode
  • the drone is used to control the drone's flight based on the control rules. Specifically, if the following mode command received is a non-following mode, the drone cannot intelligently adjust the drone. At least one of the posture of the camera, the posture of the photographing device, and the posture of the gimbal where the photographing device is located to follow the photographic subject. Instead, the control device adjusts at least one of the posture of the drone, the posture of the photographing device, and the posture of the pan / tilt where the photographing device is located by the user's operation to follow the photographic subject.
  • the drone is used to obtain the positional relationship between the shooting object and the drone, which is specifically:
  • the positional relationship and shooting parameters between the photographic object and the drone are obtained from a database, and the positional relationship and the shooting parameters required for shooting a stop motion animation are stored in the database in advance.
  • the drone photographs the subject through the shooting device to obtain multiple pictures or videos, including:
  • the drone is configured to capture the photographic object through a photographing device to obtain multiple pictures or multiple videos, specifically:
  • shooting the subject Based on the adjusted shooting parameters, shooting the subject to obtain multiple pictures or multiple videos.
  • a computer-readable storage medium is also provided in the embodiment of the present invention.
  • the computer-readable storage medium stores a computer program, and the computer program is executed by a controller to implement the description in the embodiment corresponding to FIG. 3 of the present invention.
  • the image processing method can also implement the device corresponding to the embodiment of the present invention shown in FIG. 4 or FIG. 5, which is not described again here.
  • a computer program product is also provided in the embodiment of the present invention.
  • the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to implement the present invention.
  • FIG. 3 The image processing method described in the corresponding embodiment can also implement the device of the corresponding embodiment of the present invention described in FIG. 4 or FIG. 5, and details are not described herein again.
  • the computer-readable storage medium may be an internal storage unit of the device according to any one of the foregoing embodiments, such as a hard disk or a memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), and a Secure Digital (SD) card provided on the device. , Flash card (Flash card) and so on.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium may also be used to temporarily store data that has been or will be output.
  • the program can be stored in a computer-readable storage medium.
  • the program When executed, the processes of the embodiments of the methods described above may be included.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).

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Abstract

La présente invention, selon un mode de réalisation, concerne un procédé et un dispositif de traitement d'image. Le procédé de traitement d'image peut être appliqué dans un système de véhicule aérien sans pilote comprenant un dispositif de photographie, et consiste à : acquérir une relation de positions entre un objet photographique et un véhicule aérien sans pilote ; commander le vol du véhicule aérien sans pilote conformément à une règle de commande, la règle de commande servant à maintenir la relation de positions entre le véhicule aérien sans pilote et l'objet photographique ; et utiliser un dispositif de photographie pour photographier l'objet photographique de façon à obtenir de multiples éléments de données d'image, les multiples éléments de données d'image servant à générer une animation image par image à une fréquence de trame prédéfinie. Par rapport à des dispositifs portatifs existants, le dispositif selon le mode de réalisation de la présente invention permet de produire une animation image par image constituée d'images stables.
PCT/CN2018/096410 2018-07-20 2018-07-20 Procédé et dispositif de traitement d'image WO2020014953A1 (fr)

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