WO2021035744A1 - Procédé de collecte d'image pour plateforme mobile, dispositif et support de stockage - Google Patents

Procédé de collecte d'image pour plateforme mobile, dispositif et support de stockage Download PDF

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Publication number
WO2021035744A1
WO2021035744A1 PCT/CN2019/103867 CN2019103867W WO2021035744A1 WO 2021035744 A1 WO2021035744 A1 WO 2021035744A1 CN 2019103867 W CN2019103867 W CN 2019103867W WO 2021035744 A1 WO2021035744 A1 WO 2021035744A1
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WO
WIPO (PCT)
Prior art keywords
photographing
movable platform
parameter
parameters
photographing device
Prior art date
Application number
PCT/CN2019/103867
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English (en)
Chinese (zh)
Inventor
徐富
黄振昊
杨超锋
贾向华
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.)
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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 CN201980040196.8A priority Critical patent/CN112335224A/zh
Priority to PCT/CN2019/103867 priority patent/WO2021035744A1/fr
Publication of WO2021035744A1 publication Critical patent/WO2021035744A1/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
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • 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
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/71—Circuitry for evaluating the brightness variation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms

Definitions

  • the embodiment of the present invention relates to the field of inspection technology, and in particular to an image acquisition method, equipment and storage medium of a movable platform.
  • UAVs due to its high-precision, high-flexibility, low-cost and other characteristics, unlike traditional high-altitude manned aircraft photogrammetry, UAVs can be better used in low-altitude photogrammetry, breaking through the original aerial photogrammetry.
  • Operating on the cloud layer has strong dependence on cloud conditions and weather conditions.
  • UAV low-altitude photogrammetry Due to the characteristics of UAV low-altitude photogrammetry (operating under clouds), the process of UAV low-altitude aerial photogrammetry is more susceptible to weather conditions such as cloud cover. In addition to cloud occlusion, low-altitude photogrammetry may also be affected by the occlusion of other ground objects such as mountains and tall buildings during flight operations.
  • the embodiments of the present invention provide an image acquisition method, device and storage medium of a movable platform, so as to avoid blurring of images generated by taking pictures of the movable platform during movement, and to improve image quality.
  • the first aspect of the embodiments of the present invention is to provide an image acquisition method for a movable platform, which is applied to the movable platform, and the method includes:
  • Image collection is performed by the photographing device.
  • the second aspect of the embodiments of the present invention is to provide an image acquisition method of a movable platform, which is applied to the control terminal, and the method includes:
  • the third aspect of the embodiments of the present invention is to provide a movable platform, including: a memory and a processor;
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • Image collection is performed by the photographing device.
  • the fourth aspect of the embodiments of the present invention is to provide a control terminal, including: a memory and a processor;
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • a fifth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.
  • a sixth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the second aspect.
  • the photographing parameters of the photographing equipment on the movable platform and the movement parameters of the movable platform are acquired; according to the photographing parameters and the The movement parameter acquires an evaluation parameter of the degree of image blur; adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform according to the evaluation parameter of the degree of image blurring; and performs image collection by the photographing device.
  • the image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving
  • the image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.
  • Figure 1 is a system architecture diagram provided by an embodiment of the present invention.
  • FIG. 2 is a flowchart of an image acquisition method of a movable platform provided by an embodiment of the present invention
  • FIG. 3 is a flowchart of an image acquisition method of a movable platform according to another embodiment of the present invention.
  • FIG. 4 is a flowchart of an image acquisition method of a movable platform provided by another embodiment of the present invention.
  • FIG. 5 is a flowchart of an image acquisition method of a movable platform provided by another embodiment of the present invention.
  • FIG. 6 is a flowchart of an image acquisition method of a movable platform according to another embodiment of the present invention.
  • FIG. 7 is a flowchart of an image acquisition method of a movable platform according to another embodiment of the present invention.
  • Figure 8 is a structural diagram of a movable platform provided by an embodiment of the present invention.
  • Fig. 9 is a structural diagram of a control terminal provided by an embodiment of the present invention.
  • a component when referred to as being "fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • the image acquisition method of the movable platform can be applied to the system as shown in FIG. 1.
  • the system includes a movable platform 10 and a control terminal 11, wherein the movable platform 10 is in communication connection with the control terminal 11.
  • the movable platform 10 includes, but is not limited to, a remote control car or an unmanned aerial vehicle.
  • the control terminal 11 can be one or more of a remote control, a ground control station, a smart phone, a tablet computer, etc., which can control the power of the movable platform 10
  • the camera mode setting instruction includes an automatic camera mode command, a shutter priority mode command, an aperture priority mode command, a manual exposure mode command, or a long exposure mode. Any one of the instructions; in addition, when the movable platform 10 is an unmanned aerial vehicle, the control terminal 11 can also send an overlap rate setting instruction, a route height setting instruction, or a maximum speed setting instruction to the movable platform 10 At least one.
  • the embodiment of the present invention provides an image acquisition method of a movable platform.
  • Fig. 2 is a flowchart of an image acquisition method of a movable platform provided by an embodiment of the present invention. As shown in FIG. 2, the execution subject of the image acquisition method of the movable platform in this embodiment is the movable platform, and the method may include:
  • Step S101 Obtain the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform.
  • the photographing parameters of the photographing device on the movable platform may include, but are not limited to, at least one of the exposure time, shutter speed, shutter time, exposure intensity, sensitivity, or aperture value of the photographing device; movable
  • the movement parameters of the platform include but are not limited to at least one of the movement speed, movement acceleration, or position information of the movable platform. Which photographing parameters and movement parameters are specifically acquired in this embodiment can be acquired according to actual needs. Of course, all photographing parameters and movement parameters can be acquired, and then the required photographing parameters and movement parameters can be filtered out.
  • Step S102 Acquire an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter.
  • the shooting device due to the relative motion between the shooting device of the movable platform and the scene being photographed, the shooting device is more prone to motion blur, especially when there is a mismatch between the shooting parameters and the movement parameters, that is, The camera parameters are changed but the movement parameters are not adjusted adaptively, or the movement parameters are changed but the camera parameters are not adjusted adaptively.
  • the shooting device with a movable platform uses the automatic mode, and the aperture, sensitivity and shutter speed can be adjusted at the same time in the automatic mode
  • the light is dimmed, it is necessary to reduce the shutter speed and increase the exposure time to increase the light input, but the speed of the movable platform does not change during the movement, and the increase of the exposure time will increase the motion blur, which will reduce the shooting accuracy.
  • the evaluation parameters of the image blur degree can be obtained according to the camera parameters and the movement parameters, and the image blur degree evaluation parameters can be used to measure the size of the image blur degree to determine whether it is necessary to adjust the camera parameters and/or the camera parameters of the camera.
  • the mobile parameters of the mobile platform can be obtained according to the camera parameters and the movement parameters, and the image blur degree evaluation parameters can be used to measure the size of the image blur degree to determine whether it is necessary to adjust the camera parameters and/or the camera parameters of the camera.
  • the mobile parameters of the mobile platform can be obtained according to the camera parameters and the movement parameters
  • the photographing parameter includes the exposure time of the photographing device
  • the movement parameter includes the movement speed of the movable platform
  • the evaluation parameter of the degree of image blur may be based on the exposure time. Determined by the product of the moving speed.
  • the exposure time and the moving speed are used to measure the degree of image blur.
  • the exposure time increases (that is, the shutter speed decreases), and the image blur degree becomes larger.
  • the increase in the exposure time may be Due to changes in the environment where the mobile platform is located, and the camera device automatically changes the shutter speed to adapt to environmental changes, for example, when the camera device is in the automatic camera mode, the shutter speed will be automatically adjusted when the ambient light changes, and the user can automatically adjust the shutter speed in the shutter priority mode.
  • the shutter speed of the camera device is changed through the control terminal; and when the exposure time remains the same (that is, the shutter speed does not change), and the movement speed increases, the image blur degree also becomes larger; it can be seen that the exposure time is inversely proportional to the movement speed, so this
  • the evaluation parameters of the degree of image blur in the embodiments of the present application are not limited to being determined based on the product of the exposure time and the moving speed, and can also be obtained by using more complex formulas, taking into account more photographing parameters that affect the degree of image blur. And move parameters.
  • Step S103 Adjust the photographing parameter of the photographing device and/or the movement parameter of the movable platform according to the evaluation parameter of the degree of image blur.
  • the evaluation parameter of the degree of image blur after the evaluation parameter of the degree of image blur is obtained, it can be determined whether the image is blurred according to the evaluation parameter of the degree of image blur, and if it is blurred, the photographing parameters and/or parameters of the photographing device are adjusted according to the evaluation parameter of the degree of image blur.
  • the movement parameters of the movable platform can be adjusted by adjusting the photographing parameters of the photographing device and/or the moving parameters of the movable platform to realize the adjustment of the blur degree of the image, so that the blur degree of the next image captured by the photographing device is reduced.
  • Step S104 Perform image collection through the photographing device.
  • image acquisition is performed, which can effectively avoid the image blur of the photographing device, and improve the shooting clarity and clarity. Accuracy, improve image quality.
  • the image acquisition method of the movable platform obtaineds the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform; and obtains the degree of image blurring according to the photographing parameters and the movement parameters According to the evaluation parameters of the degree of image blurring, adjust the photographing parameters of the photographing device and/or the movement parameters of the movable platform; and perform image collection through the photographing device.
  • the image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving
  • the image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.
  • FIG. 3 is a flowchart of an image acquisition method of a movable platform provided by another embodiment of the present invention.
  • the photographing parameter includes the exposure time of the photographing device
  • the movement parameter includes the movement speed of the movable platform
  • the evaluation parameter of the degree of image blur may be based on the exposure time. Determined by the product of the moving speed.
  • the image acquisition method of the movable platform described in this embodiment includes:
  • Step S201 Obtain the exposure time of the photographing device mounted on the movable platform and the moving speed of the movable platform;
  • Step S202 Determine an evaluation parameter of the degree of image blur according to the product of the exposure time and the moving speed
  • Step S203 Adjust the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring;
  • the photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device;
  • the movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.
  • only the exposure time of the photographing device and/or the moving speed of the movable platform are adjusted.
  • Step S204 Perform image collection through the photographing device.
  • the evaluation parameter of the image blur degree is determined according to the product of the exposure time and the moving speed, which can be simplified. Evaluation of the degree of image blur, simplifying the complexity of the calculation, increasing the calculation speed, and adjusting the camera parameters of the camera device and/or the movement parameters of the movable platform in a more timely manner, so as to prevent the movable platform from taking pictures during the movement in a more timely manner.
  • the image of the equipment is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of mapping or inspection based on the image can be improved.
  • the adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring includes:
  • the photographing parameter of the photographing device and/or the movement parameter of the movable platform are adjusted.
  • a preset range can be set for the evaluation parameter of the degree of image blur in advance.
  • the evaluation parameter of the degree of image blur is within the preset range, it can be considered that the degree of image blur is low or the degree of image blur is within an acceptable range.
  • the evaluation parameter of the image blur degree exceeds the preset range, it can be determined that the image blur degree has exceeded the acceptable range, and it is necessary to intervene in the camera parameters of the camera device and/or the movement parameters of the movable platform, by adjusting the camera device
  • the camera parameters and/or the movement parameters of the movable platform can be used to reduce the degree of image blur.
  • evaluation parameter of the degree of image blurriness exceeds the preset range may include various situations, such as being greater than the maximum value of the preset range, smaller than the minimum value of the preset range, etc., which can be determined according to the specific formula of the evaluation parameter of the degree of image blurring.
  • the preset range includes a preset threshold, and when the evaluation parameter of the degree of image blur exceeds the preset threshold, the evaluation parameter for determining the degree of image blur exceeds the preset range, that is, the degree of image blur The acceptable range has been exceeded. For example, for the embodiment in FIG.
  • GSD Ground Sample Distance
  • the predetermined multiple can be 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0, 2.1, 2.2, 2.3, 2.4, 2.5... It should be noted that the smaller the predetermined multiple, the finer the spatial resolution.
  • the predetermined multiple is 0.5.
  • a predetermined multiple of 1 can meet more stringent composition requirements
  • a predetermined multiple of 2 can meet ordinary less professional composition requirements.
  • the preset multiple After the preset multiple is obtained, it can be converted into a preset threshold in meters (or other distance units) according to the ground sampling interval and the preset multiple.
  • prompt information can be sent to the control terminal to warn that the image captured by the photographing device will appear blurry, so that the user can take appropriate actions in time. response.
  • the photographing parameters of the photographing device and/or the movable platform when the number of times that the evaluation parameter of the degree of image blurring continuously exceeds the preset threshold reaches a preset number of times.
  • the movement parameters considering the occasional occurrence of several times that the evaluation parameter of the degree of image blur continuously exceeds the preset threshold, the impact may not be significant, which can be ignored during the composition process, and the photographing parameters and/or of the photographing device may not be adjusted.
  • the preset number of times can be set by the user through the control terminal, or can be pre-stored on the movable platform.
  • a prompt message may be sent to the control terminal to indicate that the image captured by the photographing device will be blurred Provide early warning so that users can take appropriate actions in time to respond. Furthermore, the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range can be recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is sent to the control terminal, and the The display on the control terminal provides guidance for the user's operation.
  • the preset threshold value can be pre-stored on the movable platform, of course, it can also be set by the control terminal according to the composition requirements, and the specific ones can include:
  • the user can directly send the specific value of the preset threshold that needs to be set to the movable platform through the control terminal, or send the composition request to the movable platform, and the preset corresponding to the composition demand is pre-stored on the movable platform Threshold, the movable platform selects the corresponding preset threshold after receiving the composition request.
  • the photographing parameters of the photographing device and/or the movement parameters of the movable platform are adjusted according to the evaluation parameters of the image blur degree as described in any of the above embodiments, as shown in FIG. 4 Shows, which can specifically include:
  • S301 Acquire a target critical speed of the movable platform according to the evaluation parameter of the degree of image blur and the preset threshold;
  • the preset threshold a can obtain the target critical speed of the movable platform by v ⁇ a/t, and then adjust the moving speed of the movable platform to be less than or equal to the target critical speed.
  • the adjusted moving speed of the movable platform may be sent to the control terminal.
  • the adjustment of the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the image blur degree in any of the above embodiments may specifically include :
  • the current photographing mode of the photographing device is the first mode, switch the current photographing mode of the photographing device to the second mode, or reduce the shutter speed of the photographing device;
  • the photographing device cannot automatically adjust the shutter speed; in the second mode, the photographing device can automatically adjust the shutter speed.
  • the automatic camera mode can automatically configure various camera parameters according to the scene, shutter priority mode
  • the shutter speed can be preset
  • the aperture value can be automatically set according to the brightness of the scene and other photographing parameters
  • the aperture priority mode can be pre-set the aperture value
  • the shutter speed can be automatically set according to the brightness of the scene and other photographing parameters
  • the manual exposure mode can manually adjust the shutter according to the needs Camera parameters such as speed, aperture value, and sensitivity.
  • the camera mode of the camera device can be switched to the second mode that can automatically adjust the shutter speed (such as automatic camera mode, aperture priority mode) Etc.), and then after the camera device automatically adjusts the shutter speed, it is determined whether the evaluation parameter of the image blur degree exceeds the preset range, and if it exceeds the preset range, the camera parameters of the camera device and/or the movement parameters of the movable platform are adjusted again;
  • the shutter speed of the photographing device may be directly forced to be reduced (for example, the shutter speed is reset in the automatic photographing mode), so that the evaluation parameter of the degree of image blur is adjusted within a preset range.
  • the camera mode is in the shutter priority mode
  • the camera device when the camera environment changes, for example, the environment brightness decreases, the camera device automatically increases the aperture value or adjusts the sensitivity, and then the camera device collects images and sends them back to the control terminal. Later, after the user finds that the image is blurred or noisy by viewing the captured image, he can also control the camera mode to switch to the automatic camera mode, which can automatically adjust the shutter speed according to the environmental brightness, or the user can directly set a higher shutter speed.
  • the switching of the current photographing mode of the photographing device to the second mode specifically includes:
  • Step S401 Receive a control instruction for adjusting the photographing mode sent by the control terminal, where the control instruction is used to instruct to switch the current photographing mode of the photographing device to the second mode;
  • Step S402 Adjust the photographing mode of the photographing device according to the control instruction.
  • the switching of the photographing mode can be controlled by the control terminal, that is, after the user performs the switching operation on the control terminal, the control terminal will send a control instruction for adjusting the photographing mode to the movable platform, and the movable platform will respond to this The control instruction adjusts the photographing mode of the photographing device to switch to the second mode.
  • photographing parameters may be adjusted according to the ambient brightness; the photographing device is controlled to perform image collection according to the adjusted photographing parameters.
  • the photographing device is switched to the second mode that can automatically adjust the shutter speed (for example, the automatic photographing mode)
  • the photographing device can automatically adjust the photographing parameters according to the ambient brightness, and proceed according to the adjusted photographing parameters.
  • Image acquisition which can improve the clarity and accuracy of shooting, and improve image quality.
  • the adjusted photographing parameters can also be sent to the control terminal to display the adjusted photographing parameters on the control terminal, so that the user can understand the current photographing parameters or check whether the photographing mode is adjusted successfully.
  • the reducing the shutter speed of the photographing device may specifically include:
  • Step S501 Receive a control instruction for reducing the shutter speed of the photographing device sent by the control terminal, and adjust the shutter speed according to the control instruction;
  • Step S502 Control the photographing device to perform image collection according to the adjusted shutter speed.
  • the shutter speed of the photographing device can be controlled by the control terminal, that is, the user sets the shutter speed on the control terminal. If the shutter speed is reduced, the control terminal will send a message to the movable platform to reduce the shutter speed of the photographing device According to the control instruction, the movable platform adjusts the shutter speed of the photographing device according to the control instruction, and then the photographing device can perform image collection according to the adjusted shutter speed. Further, after adjusting the shutter speed according to the control instruction, the adjusted shutter speed can also be sent to the control terminal to display the adjusted shutter speed on the control terminal, so that the user can understand the current photographing parameters or view the shutter speed Whether the adjustment is successful.
  • the image collection by the photographing device may specifically include:
  • Image collection is performed by the photographing device according to isometric photographs; or,
  • Image collection is performed by the photographing device according to isochronous photographing.
  • the photographing equipment of the movable platform can perform image acquisition according to equidistant photography during the movement, that is, every time the same distance is moved, the image acquisition is triggered once, and the distance can be determined by the positioning device of the movable platform.
  • the moving distance for example, real-time positioning through RTK (Real-time kinematic, real-time dynamic differential positioning) equipment, IMU (Inertial measurement unit, inertial measurement unit) and other real-time positioning and comparison with the last photographed point to calculate the moving distance;
  • photographing equipment can also Image acquisition is performed according to isochronous photography, that is, an image acquisition is triggered at the same time interval.
  • the specific image acquisition method to be adopted can be set by the user on the control terminal before the image acquisition, and the control terminal sends an isometric photograph setting instruction or an isochronous photograph setting instruction to the movable platform.
  • control terminal can also send an instruction for setting the interval of the isometric photographing distance to the movable platform; when image collection is performed according to isochronous photography, the control terminal can also send etc. to the movable platform. Time-to-shoot time interval setting instruction. These setting instructions can be set by the user on the control terminal.
  • the acquiring the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform includes:
  • the adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring includes:
  • the photographing parameter of the photographing device for the next photographing and/or the movement parameter of the movable platform for the photographing device for the next photographing is adjusted according to the evaluation parameter of the degree of image blur.
  • the photographing parameter and the movement parameter may be acquired at a preset frequency (for example, 5 Hz), and then the evaluation parameter of the degree of image blur is obtained every time the photographing parameter and the movement parameter are acquired. That is, the frequency of obtaining the evaluation parameter of the degree of image blur is the same as the preset frequency.
  • the photographing frequency of isometric photographing or isochronous photographing may be the same as the preset frequency or may be different from the preset frequency.
  • the photographing frequency is the same as the preset frequency
  • the photographing parameters and movement parameters are acquired during the current photograph, and after the evaluation parameters of the degree of image blur are obtained, since the photograph has been taken at the current time, it is too late.
  • the camera parameters and/or movement parameters for the next photograph can only be adjusted according to the evaluation parameters of the blur degree of the image, so that the next photograph can be adjusted according to the adjusted parameters.
  • the camera parameters and/or movement parameters are used for image acquisition to ensure that the image can be prevented from blurring the next time the camera is taken.
  • the time to acquire the photographic parameters and the movement parameters may be between the two photographs. Therefore, the degree of blurring of the image can be obtained according to the photographic parameters and movement parameters acquired between the two photographs.
  • the evaluation parameters are used to adjust the photographing parameters and/or the movement parameters for the next photograph to ensure that the image blur can be avoided when the next photograph is taken.
  • the photographing parameter and the movement parameter may be acquired before the next photograph of the photographing device, the evaluation parameter of the degree of image blur is acquired according to the photographing parameter and the movement parameter, and the evaluation parameter of the degree of image blur is adjusted according to the evaluation parameter of the degree of image blur.
  • the photographing parameters and movement parameters may not be acquired at a fixed frequency, but the photographing parameters and movement parameters may be acquired in advance before the next photographing. Specifically, when the movable platform enters the next photographing under isometric photographing When the position is within the predetermined distance range, or when the time reaches the predetermined time range before the next photographing time under isochronous photographing, the photographing parameters and movement parameters can be acquired once, and then the evaluation parameters of the degree of image blur can be obtained. According to the evaluation parameter of the degree of image blurring, the photographing parameter of the photographing device for the next photographing and/or the movement parameter of the movable platform for the photographing device for the next photographing is adjusted according to the evaluation parameter of the degree of image blur.
  • the photographing parameter and/or the movement parameter may also be sent to the control terminal. That is, in this embodiment, the camera parameters and movement parameters can be sent to the control terminal at a predetermined frequency, and the user can learn the camera parameters of the camera device and the movement parameters of the movable platform in real time.
  • the control terminal may also obtain the evaluation parameter of the image blur degree after receiving the photographing parameter and the movement parameter, or apply it to other data processing.
  • the evaluation parameter of the degree of image blur may be sent to the control terminal and displayed on the control terminal. So that the user can understand the degree of image blur in real time; the control side can also determine whether the evaluation parameter of the image blur degree exceeds the preset range. If it exceeds the preset range, a prompt message will be displayed on the control terminal to capture the image from the camera device. Early warning of ambiguous conditions.
  • the image acquisition method of the movable platform described in the above embodiment can also be completed by the movable platform and the control terminal.
  • the movable platform can acquire the photographing parameters of the photographing device equipped with the movable platform.
  • the control terminal obtains the evaluation parameters of the degree of image blur according to the photographing parameters and the movement parameters, and then blurs the image
  • the evaluation parameters of the degree are sent to the movable platform, and the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the image blur degree, and then the photographing device performs Image acquisition; or the control terminal can also send adjustment instructions to the movable platform according to the evaluation parameters of the degree of image blur, and the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the adjustment instructions, and then Image collection is performed by the photographing device.
  • FIG. 7 is a flowchart of an image acquisition method of a movable platform provided by another embodiment of the present invention.
  • the execution subject of the image acquisition method of the movable platform in this embodiment is the control terminal. As shown in FIG. 7, the method in this embodiment may include:
  • Step S601 Obtain the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform from the movable platform;
  • Step S602 Acquire an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter;
  • Step S603 Send an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform, and Image collection is performed by the photographing device.
  • the execution subject of the method described in this embodiment is the control end, and the difference from the foregoing embodiment is that the execution subject is changed.
  • the specific process is similar to the foregoing embodiment, and will not be repeated here.
  • the photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device;
  • the movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.
  • the photographing parameter includes the exposure time of the photographing device
  • the movement parameter includes the movement speed of the movable platform
  • the evaluation parameter of the degree of image blur can be based on the exposure time. The product of the time and the moving speed is determined.
  • the sending an adjustment instruction to the movable platform so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform includes :
  • an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform.
  • the evaluation parameter of the degree of image blurriness exceeds a preset range, including:
  • the evaluation parameter of the blur degree of the image exceeds a preset threshold.
  • the method further includes:
  • the preset threshold is set according to the preset threshold setting instruction.
  • the method further includes:
  • a prompt message is displayed on the display component of the control terminal to warn that the image captured by the photographing device will be blurred.
  • the sending an adjustment instruction to the movable platform so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform includes :
  • an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters and/or the photographing device of the photographing device The movement parameters of the movable platform.
  • the method further includes:
  • the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is displayed on the display component of the control terminal.
  • the sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree so that the movable platform can adjust the movement parameters of the movable platform includes:
  • the method further includes:
  • the adjusted moving speed of the movable platform is obtained from the movable platform and displayed on the display component of the control terminal.
  • the sending an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device includes:
  • a photographing device adjustment instruction is sent to the movable platform, so that the movable platform can switch the current photographing mode of the photographing device to the second mode, or lower The shutter speed of the photographing device;
  • the photographing device cannot automatically adjust the shutter speed; in the second mode, the photographing device can automatically adjust the shutter speed.
  • the sending a photographing device adjustment instruction to the movable platform includes:
  • the method further includes:
  • the adjusted photographing parameters are obtained from the movable platform and displayed on the display component of the control terminal.
  • the sending a photographing device adjustment instruction to the movable platform includes:
  • the method further includes:
  • the adjusted shutter speed is obtained from the movable platform and displayed on the display component of the control terminal.
  • the method further includes:
  • the method further includes:
  • an isochronous photographing time interval setting instruction is sent to the movable platform.
  • the acquiring from a movable platform the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform includes:
  • the method includes:
  • the photographing parameter and/or the movement parameter are displayed on the display component of the control terminal.
  • the method further includes:
  • the evaluation parameter of the degree of image blur is displayed on the display component of the control terminal.
  • the method further includes:
  • the camera mode setting instruction includes any one of an automatic camera mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction .
  • the movable platform includes at least one of the following: a remote control vehicle, or an unmanned aerial vehicle.
  • the movable platform when the movable platform is an unmanned aerial vehicle, it further includes:
  • At least one of an overlap rate setting instruction, a route altitude setting instruction, or a maximum speed setting instruction is sent to the movable platform.
  • the image acquisition method of the movable platform is to obtain the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform; and obtain the image blur according to the photographing parameters and the movement parameters.
  • the evaluation parameter of the degree; adjusting the photographing parameter of the photographing device and/or the movement parameter of the movable platform according to the evaluation parameter of the image blurring degree; image collection is performed by the photographing device.
  • the image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving
  • the image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.
  • FIG. 8 is a structural diagram of a movable platform provided by an embodiment of the present invention.
  • the movable platform 70 includes a memory 71 and a processor 72. More specifically, the movable platform also includes a photographing device 73, a power system 74, a communication interface 75, etc., which will not be repeated here.
  • the memory 71 is used to store program codes
  • the processor 72 calls the program code, and when the program code is executed, is used to perform the following operations:
  • Image collection is performed by the photographing device 73.
  • the photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device 73;
  • the movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.
  • the photographing parameter includes the exposure time of the photographing device 73
  • the movement parameter includes the movement speed of the movable platform
  • the evaluation parameter of the degree of image blur may be based on the exposure time. Determined by the product of the moving speed.
  • the processing The device 72 is configured to:
  • the photographing parameter of the photographing device 73 and/or the movement parameter of the movable platform are adjusted.
  • the evaluation parameter of the degree of image blurriness exceeds a preset range, including:
  • the evaluation parameter of the blur degree of the image exceeds a preset threshold.
  • the processor 72 is further configured to:
  • the preset threshold is set according to the preset threshold setting instruction.
  • the processor 72 is further configured to:
  • a prompt message is sent to the control terminal to warn that the image captured by the photographing device 73 will be blurred.
  • the processor 72 Is configured as:
  • the number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches the preset number of times, and the photographing parameters of the photographing device 73 and/or the movement parameters of the movable platform are adjusted.
  • the processor 72 is further configured to:
  • the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is sent to the control terminal.
  • the processor 72 when the processor 72 adjusts the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring, the processor 72 is configured to:
  • the moving speed of the movable platform is adjusted to be less than or equal to the target critical speed.
  • the processor 72 adjusts the moving speed of the movable platform to be less than or equal to the target critical speed, the processor 72 is further configured to:
  • the processor 72 when the processor 72 adjusts the photographing parameters of the photographing device 73, the processor 72 is configured to:
  • the current photographing mode of the photographing device 73 is the first mode, switch the current photographing mode of the photographing device 73 to the second mode, or reduce the shutter speed of the photographing device 73;
  • the photographing device 73 In the first mode, the photographing device 73 cannot automatically adjust the shutter speed; in the second mode, the photographing device 73 can automatically adjust the shutter speed.
  • the processor 72 when the processor 72 switches the current photographing mode of the photographing device 73 to the second mode, the processor 72 is configured to:
  • the photographing mode of the photographing device 73 is adjusted according to the control instruction.
  • the processor 72 adjusts the photographing mode of the photographing device 73 according to the control instruction, the processor 72 is further configured to:
  • the photographing device 73 is controlled to perform image collection according to the adjusted photographing parameters.
  • the processor 72 adjusts the photographing parameters according to the ambient brightness
  • the processor 72 is further configured to:
  • the processor 72 when the shutter speed of the photographing device 73 is reduced, the processor 72 is configured to:
  • the photographing device 73 is controlled to perform image collection according to the adjusted shutter speed.
  • the processor 72 adjusts the shutter speed according to the control instruction, the processor 72 is further configured to:
  • the processor 72 when the processor 72 performs image collection through the photographing device 73, the processor 72 is configured to:
  • Image collection is performed by the photographing device 73 according to isometric photographs; or,
  • Image collection is performed by the photographing device 73 according to isochronous photographing.
  • the processor 72 before the processor 72 performs image collection through the photographing device 73, the processor 72 is further configured to:
  • the processor 72 is further configured to:
  • the isochronous photographing time interval setting instruction sent by the control terminal is received.
  • the processor 72 when the processor 72 acquires the photographing parameters of the photographing device 73 on the movable platform and the movement parameters of the movable platform, the processor 72 is configured to:
  • the processor 72 adjusts the photographing parameter of the photographing device 73 and/or the movement parameter of the movable platform according to the evaluation parameter of the image blur degree, the processor 72 is configured to:
  • the photographing parameters of the photographing device 73 for the next photograph and/or the movement parameters of the movable platform for the photographing device 73 for the next photograph are adjusted.
  • the processor 72 is further configured to:
  • the photographing parameter and/or the movement parameter are sent to the control terminal.
  • the processor 72 is further configured to:
  • the evaluation parameter of the degree of blurring of the image is sent to the control terminal.
  • the processor 72 is further configured to:
  • the photographing mode setting instruction includes any one of an automatic photographing mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction.
  • the movable platform includes at least one of the following: a remote control vehicle, or an unmanned aerial vehicle.
  • the processor 72 is further configured to:
  • At least one of the overlap rate setting command, the route height setting command, or the maximum speed setting command sent by the control terminal is received.
  • the movable platform provided in this embodiment can be used to implement the technical solutions of the above-mentioned method embodiments on the movable platform side, and the implementation principles and technical effects are similar, and will not be repeated here.
  • the mobile platform of this embodiment acquires the photographing parameters of the photographing device equipped with the mobile platform and the movement parameters of the movable platform; obtains the evaluation parameters of the degree of image blur according to the photographing parameters and the movement parameters; The evaluation parameter of the degree of image blur adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform; image collection is performed by the photographing device.
  • the image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving
  • the image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.
  • FIG. 9 is a structural diagram of a control terminal provided by an embodiment of the present invention.
  • the control terminal 80 includes a memory 81 and a processor 82.
  • the control terminal 80 also includes a communication interface 83.
  • the memory 81 is used to store program codes
  • the processor 82 calls the program code, and when the program code is executed, is used to perform the following operations:
  • the photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device;
  • the movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.
  • the photographing parameter includes the exposure time of the photographing device
  • the movement parameter includes the movement speed of the movable platform
  • the evaluation parameter of the degree of image blur can be based on the exposure time and The product of the moving speed is determined.
  • the processor 82 sends an adjustment instruction to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the photographing parameters of the movable platform.
  • the processor 82 is configured to:
  • an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform.
  • the evaluation parameter of the degree of image blurriness exceeds a preset range, including:
  • the evaluation parameter of the blur degree of the image exceeds a preset threshold.
  • the processor 82 is further configured to:
  • the preset threshold is set according to the preset threshold setting instruction.
  • the processor 82 is further configured to:
  • a prompt message is displayed on the display component of the control terminal to warn that the image captured by the photographing device will be blurred.
  • the processor 82 sends an adjustment instruction to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the photographing parameters of the movable platform.
  • the processor 82 is configured to:
  • an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters and/or the photographing device of the photographing device The movement parameters of the movable platform.
  • the processor 82 is further configured to:
  • the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is displayed on the display component of the control terminal.
  • the processor 82 sends an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the movement of the movable platform.
  • the processor 82 is configured to:
  • the processor 82 is further configured to:
  • the adjusted moving speed of the movable platform is obtained from the movable platform and displayed on the display component of the control terminal.
  • the processor 82 sends an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device
  • the processor 82 is configured to:
  • a photographing device adjustment instruction is sent to the movable platform, so that the movable platform can switch the current photographing mode of the photographing device to the second mode, or lower The shutter speed of the photographing device;
  • the camera device In the first mode, the camera device cannot automatically adjust the shutter speed; in the second mode, the camera device can automatically adjust the shutter speed.
  • the processor 82 when the processor 82 sends a photographing device adjustment instruction to the movable platform, the processor 82 is configured to:
  • the processor 82 is further configured to:
  • the adjusted photographing parameters are obtained from the movable platform and displayed on the display component of the control terminal.
  • the processor 82 when the processor 82 sends a photographing device adjustment instruction to the movable platform, the processor 82 is configured to:
  • the processor 82 is further configured to:
  • the adjusted shutter speed is obtained from the movable platform and displayed on the display component of the control terminal.
  • the processor 82 is further configured to:
  • the processor 82 is further configured to:
  • an isochronous photographing time interval setting instruction is sent to the movable platform.
  • the processor 82 when the processor 82 obtains the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform from the movable platform, the processor 82 is configured for:
  • the processor 82 acquires the photographing parameter and the movement parameter according to a preset frequency
  • the processor 82 is further configured to:
  • the photographing parameter and/or the movement parameter are displayed on the display component of the control terminal.
  • the processor 82 is further configured to:
  • the evaluation parameter of the degree of image blur is displayed on the display component of the control terminal.
  • the processor 82 is further configured to:
  • the camera mode setting instruction includes any one of an automatic camera mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction .
  • the movable platform includes at least one of the following: a remote control vehicle, or an unmanned aerial vehicle.
  • the processor 82 is further configured to:
  • At least one of an overlap rate setting instruction, a route altitude setting instruction, or a maximum speed setting instruction is sent to the movable platform.
  • control terminal provided in this embodiment can be used to execute the technical solutions of the method embodiments on the control terminal side, and its implementation principles and technical effects are similar, and will not be repeated here.
  • the control terminal of this embodiment obtains the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform; obtains the evaluation parameters of the degree of image blur according to the photographing parameters and the movement parameters; The evaluation parameter of the degree of image blur adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform; the photographing device is used for image collection.
  • the image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving
  • the image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by the processor to implement the image acquisition method of the movable platform on the movable platform side described in the above embodiment. .
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the image acquisition method of the movable platform on the control terminal side described in the foregoing embodiment.
  • this embodiment also provides a computer program, including program code.
  • the program code executes the image acquisition method of the movable platform on the movable platform side as described in the above embodiment.
  • this embodiment also provides a computer program, including program code.
  • the program code executes the image acquisition method of the movable platform on the control terminal side as described in the above embodiment.
  • the disclosed device and method can be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium, and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in each embodiment of the present invention. Part of the steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Abstract

L'invention concerne un procédé de collecte d'image pour une plateforme mobile, un dispositif et un support de stockage, le procédé consistant à : acquérir un paramètre de capture d'image d'un dispositif de capture d'image transporté sur une plateforme mobile, ainsi qu'un paramètre de mouvement de la plateforme mobile (S101) ; sur la base du paramètre de capture d'image et du paramètre de mouvement, acquérir un paramètre d'évaluation du flou d'une image (S102) ; sur la base du paramètre d'évaluation du flou de l'image, régler le paramètre de capture d'image du dispositif de capture d'image et/ou le paramètre de mouvement de la plateforme mobile (S103) ; et collecter une image au moyen du dispositif de capture d'image (S104). En utilisant un paramètre d'évaluation du flou d'une image pour mesurer le flou d'une image capturée par le dispositif de capture d'image, et en réglant rapidement le paramètre de capture d'image du dispositif de capture d'image et/ou le paramètre de mouvement de la plateforme mobile sur la base du flou, il est possible d'empêcher de façon efficace que des images floues soient capturées par le dispositif de capture d'image alors que la plateforme mobile se déplace, la clarté et la précision de capture d'image peuvent être augmentées et la qualité d'image peut être améliorée, ce qui peut ainsi améliorer la précision et la justesse de la photogrammétrie ou de la patrouille d'inspection.
PCT/CN2019/103867 2019-08-30 2019-08-30 Procédé de collecte d'image pour plateforme mobile, dispositif et support de stockage WO2021035744A1 (fr)

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CN201980040196.8A CN112335224A (zh) 2019-08-30 2019-08-30 可移动平台的图像采集方法、设备及存储介质
PCT/CN2019/103867 WO2021035744A1 (fr) 2019-08-30 2019-08-30 Procédé de collecte d'image pour plateforme mobile, dispositif et support de stockage

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CN105072328A (zh) * 2015-07-16 2015-11-18 广东欧珀移动通信有限公司 一种视频拍摄方法、装置以及终端
CN105430267A (zh) * 2015-12-01 2016-03-23 厦门瑞为信息技术有限公司 一种基于人脸图像光照参数的摄像机参数自适应调整方法
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CN116229425B (zh) * 2023-05-08 2023-09-19 珠海骏驰智联科技有限公司 基于大数据的无人驾驶车辆障碍物检测方法及系统

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