WO2021212499A1

WO2021212499A1 - Target calibration method, apparatus, and system, and remote control terminal of movable platform

Info

Publication number: WO2021212499A1
Application number: PCT/CN2020/086793
Authority: WO
Inventors: 温亚停; 方馨月; 陈晨
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-24
Filing date: 2020-04-24
Publication date: 2021-10-28
Also published as: CN113597596A

Abstract

A target calibration method, apparatus, and system, and a remote control terminal of a movable platform, the method comprising: by means of a remote control terminal, acquiring an image transmission picture of a first lens and a second lens, and displaying a first image transmission picture acquired by the first lens on an interactive interface of the remote control terminal (S201); acquiring a first user command, the first user command being used for indicating a target object to be calibrated in the first image transmission picture (S202); acquiring first position information of the target object in the first image transmission picture (S203); on the basis of the first position information, marking the target object on the first image transmission picture (S204); and, on the basis of the first position information, relative positional information of the first lens and the second lens, photography parameters of the first lens, and photography parameters of the second lens, determining second position information of the target object in a second image transmission picture acquired by the second lens (S205). The present method implements sharing of target calibration results between the image transmission pictures acquired by multiple lenses, reducing communication costs when multiple people collaborate to control the movable platform operations, and increasing the efficiency of collaborative operations.

Description

Target calibration method, device and system and remote control terminal of movable platform

Technical field

This application relates to the field of interaction, and in particular to a target calibration method, device and system, and a remote control terminal of a movable platform.

Background technique

At present, most of the mobile platforms use a single lens, and there are some softwares that support users to perform target calibration on the image transmission screen acquired by a single lens. Some mobile platforms have multiple lenses. Existing software only supports users to perform target calibration on the image transmission screens acquired by different lenses, and the target calibration results on the image transmission screens acquired by different lenses cannot be shared. In multi-person collaboration When controlling the movable platform to perform operations, this target calibration method will increase the communication cost between users and decrease the operation efficiency.

Summary of the invention

This application provides a target calibration method, device and system, and a remote control terminal of a movable platform.

In the first aspect, an embodiment of the present application provides a target calibration method, which is applicable to a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, and the method includes :

Acquiring the image transmission images of the first lens and the second lens through the remote control terminal, and displaying the first image transmission image acquired by the first lens on the interactive interface of the remote control terminal;

Acquiring a first user instruction, where the first user instruction is used to instruct the target object to be calibrated in the first image transmission screen;

Acquiring first position information of the target object on the first image transmission screen;

Mark the target object on the first image transmission screen according to the first location information;

According to the first position information, the relative positional relationship between the first lens and the second lens, the shooting parameters of the first lens, and the shooting parameters of the second lens, it is determined that the target object is The second position information in the second video transmission picture acquired by the second lens.

In a second aspect, an embodiment of the present application provides a target calibration device, the target calibration device is provided in a remote control terminal, the remote control terminal communicates with a movable platform, and the movable platform includes a first lens and a second lens, The device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

In a third aspect, an embodiment of the present application provides a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, and the remote control terminal includes:

Subject; and

The target calibration device is supported by the main body;

Wherein, the target calibration device includes:

Storage device for storing program instructions; and

In a fourth aspect, the embodiments of the present application provide a target calibration system, including:

A remote control terminal, the remote control terminal including a main body and a target calibration device, the target calibration device being supported by the main body; and

A movable platform, communicating with the remote control terminal, the movable platform including a first lens and a second lens;

Wherein, the target calibration device includes:

Storage device for storing program instructions; and

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

In a sixth aspect, an embodiment of the present application provides a target calibration method, which is applicable to a remote control terminal that communicates with a movable platform on which a camera is mounted, and the method includes:

Displaying the image transmission screen acquired by the photographing device on the interactive interface of the remote control terminal;

Acquiring a first user instruction, where the first user instruction is used to instruct the target object to be calibrated in the image transmission screen and a positioning strategy for positioning the target object;

Obtaining the position information of the target object from the movable platform according to the positioning strategy, where the position information includes the distance of the target object relative to the movable platform;

According to the location information, the target object is marked on the image transmission screen. .

In a seventh aspect, an embodiment of the present application provides a target calibration device, the target calibration device is provided in a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform is equipped with a camera, the device include:

Storage device for storing program instructions; and

According to the location information, the target object is marked on the image transmission screen.

In an eighth aspect, an embodiment of the present application provides a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform is equipped with a photographing device, and the remote control terminal includes:

Subject; and

The target calibration device is supported by the main body;

Wherein, the target calibration device includes:

Storage device for storing program instructions; and

In a ninth aspect, an embodiment of the present application provides a target calibration system, including:

A remote control terminal, the remote control terminal comprising a main body and a target calibration device, the target calibration device being supported by the main body; and

A movable platform that communicates with the remote control terminal, and a camera is mounted on the movable platform;

Wherein, the target calibration device includes:

Storage device for storing program instructions; and

In a tenth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

According to the technical solution provided by the embodiments of the present application, according to the first position information of the target object in the first image transmission screen, the relative positional relationship between the first lens and the second lens, the shooting parameters of the first lens, and the second lens Shooting parameters, you can get the second location information of the target object in the second image transmission screen, so that the target object marked on the first image transmission screen can be shared with the second image transmission screen based on the second location information , It realizes the sharing of target calibration results between the image transmission images acquired by multiple lenses, which is beneficial to reduce communication costs when multi-person collaborative control of the movable platform works, and improves the efficiency of coordinated operations.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1A is an application scenario diagram of a target calibration method in an embodiment of the present application;

FIG. 1B is a structural block diagram of a movable platform in an embodiment of the present application;

2 is a schematic diagram of the method flow of the target calibration method in an embodiment of the present application;

3A is a schematic diagram of an interactive interface displaying a picture transmission screen in an embodiment of the present application;

3B is a schematic diagram of an interactive interface in an embodiment of the present application displaying an image transmission screen under an intelligent tracking strategy;

4A is a schematic diagram of an interactive interface in an embodiment of the present application displaying an image transmission screen under a dot positioning strategy;

4B is a schematic diagram of an interactive interface in another embodiment of the present application displaying a map corresponding to the first image transmission screen;

FIG. 5 is a schematic diagram of an interactive interface in another embodiment of the present application displaying an image transmission screen under the laser ranging strategy;

Fig. 6 is a schematic diagram of a flight guidance compass in an embodiment of the present application;

Fig. 7 is a structural block diagram of a target calibration device in an embodiment of the present application;

FIG. 8 is a schematic diagram of the method flow of the target calibration method in another embodiment of the present application.

Detailed ways

At present, some mobile platforms have multiple lenses, and the existing software only supports users to perform target calibration on the image transmission screens acquired by different lenses, and the target calibration results on the image transmission screens acquired by different lenses cannot be shared. Exemplarily, when multiple people cooperate to control a mobile platform to perform operations, pilot 1 performs operations by viewing the image transmission screen obtained by lens 1, and pilot 2 performs operations by viewing the image transmission screen obtained by lens 2. During the operation , Pilots usually calibrate the targets that need to be focused on in the operation area. For example, if pilot 1 finds a large obstacle in the operation area through the image transmission screen obtained by lens 1, he can calibrate on the image transmission screen obtained by lens 1. The large obstacle avoids collision during operation. However, the information of the target calibrated on the image transmission screen obtained by the pilot 1 on the lens 1 cannot be shared on the image transmission screen obtained by the lens 2, and the pilot 2 cannot obtain the information of the large obstacle in time, so the existing target The calibration method will increase the communication cost between users and reduce the operating efficiency. In this regard, the present application can be based on the first position information of the target object in the first image transmission screen, the relative position relationship between the first lens and the second lens, the shooting parameters of the first lens, and the shooting parameters of the second lens. Obtain the second location information of the target object in the second image transmission screen, so that the target object marked on the first image transmission screen can be shared with the second image transmission screen based on the second location information, realizing multi-camera The sharing of the target calibration results between the acquired image transmission screens is beneficial to reduce communication costs when multiple people collaborate to control the operation of the movable platform, and improve the efficiency of coordination operations.

On the other hand, during the current target calibration, most of the acquired position information of the target object is obtained based on the navigation detection of the movable platform, and it is impossible to calibrate the precise position of the target object. Exemplarily, the target object is a suspect to be arrested, and if the location of the suspect cannot be demarcated accurately, the arrest process will be greatly troubled. In this regard, when the application is performing target calibration, the position information of the target object obtained from the movable platform includes the distance of the target object relative to the movable platform. Based on the distance of the target object relative to the movable platform, the target object can be quickly calibrated. Positioning, when multiple people collaborate to control the work of the movable platform, it can quickly notify the partner of the coordinated work to arrive at the destination.

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that, in the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

Referring to FIG. 1A, the target calibration method of the embodiment of the present application is applicable to a remote control terminal that communicates with a movable platform. The remote control terminal of the embodiment of the present application may be a remote control of a movable platform, a smart terminal (such as a mobile phone, a tablet computer, etc.), or other terminal equipment capable of remotely controlling the movable platform. The movable platform in the embodiment of the present application may be a drone, an unmanned vehicle or a ground mobile robot; of course, the movable platform in the embodiment of the present application may also be other types of movable platforms, such as a manned aircraft.

Referring to FIG. 1B, in some embodiments, the movable platform includes a first lens and a second lens.

Exemplarily, in some embodiments, the movable platform includes a photographing device including multiple lenses, the first lens is one of the multiple lenses included in the photographing device, and the second lens includes multiple lenses included in the photographing device. The other shots of the shots. In some embodiments, the movable platform includes a plurality of photographing devices, the first lens is a lens of one of the photographing devices, and the second lens includes a lens of other photographing devices. Optionally, the multiple shooting devices include a FPV (First Person View) camera.

Among them, in some embodiments, the camera is mounted on the body of the movable platform via a pan-tilt; in some embodiments, the camera is directly fixed on the body of the movable platform.

Exemplarily, in some embodiments, the photographing device includes a dual-lens lens, such as a wide-angle lens and a zoom lens. Optionally, the first lens is one of a wide-angle lens and a zoom lens, and the second lens is the other of a wide-angle lens and a zoom lens. one. In some embodiments, the photographing device includes a three-lens lens, such as a wide-angle lens, a zoom lens, and an infrared lens. Optionally, the first lens is one of a zoom lens, a wide-angle lens, and an infrared lens, and the second lens includes a zoom lens, a wide-angle lens, and an infrared lens. The other shots in the shot. In some embodiments, the movable platform includes an FPV camera and a first imaging device, and the first imaging device includes the above-mentioned dual-lens and/or triple-lens imaging device. Optionally, the first lens is one of the lens of the FPV camera and the lens of the first photographing device, and the second lens includes the lens of the FPV camera and the other lens of the lens of the first photographing device.

Example one

2 is a schematic diagram of the method flow of the target calibration method in an embodiment of the present application; the execution subject of the target calibration method in the embodiment of the present application is a remote control terminal. Referring to FIG. 2, the target calibration method in the embodiment of the present application may include S201 to S205.

Wherein, in S201, the image transmission images of the first lens and the second lens are acquired through the remote control terminal, and the first image transmission image acquired by the first lens is displayed on the interactive interface of the remote control terminal.

In the embodiment of the present application, during the operation of the movable platform, the image transmission screen obtained by the first lens and the second lens will be transmitted back to the remote control terminal.

The logo corresponding to the first lens and the logo corresponding to the second lens are displayed on the interactive interface. The user can select the first lens and the second lens by operating the logo corresponding to each lens (such as clicking, double-clicking, or long-pressing) One of the image transmission screens is displayed on the interactive interface. For example, please refer to Figure 3A, the first lens is a zoom lens, the second lens includes an infrared lens, a wide-angle lens, and an FPV lens. The zoom lens corresponds to the first logo 11, the infrared lens corresponds to the second logo 12, and the wide-angle lens corresponds to the third logo 13. , The lens of the FPV camera corresponds to the fourth mark 14. The user can click on one of the first logo 11, the second logo 12, the third logo 13, and the fourth logo 14, so that the image transmission screen of the lens corresponding to the currently clicked logo is displayed on the interactive interface. As shown in Fig. 3A, the user clicks on the first sign 11, and the image transmission screen corresponding to the zoom lens is displayed on the interactive interface.

In S202, a first user instruction is acquired, where the first user instruction is used to instruct the target object to be calibrated in the first image transmission screen.

In the embodiment of the present application, the first user instruction is also used to instruct a positioning strategy for positioning the target object to be calibrated (hereinafter referred to as the target object), and the remote control terminal obtains the position information of the target object from the movable platform according to the positioning strategy (ie, the following Said third position information) to calibrate the target object. In the embodiment of the present application, the remote control terminal obtains the third position information obtained by positioning the target object by the movable platform according to the positioning strategy in the first user instruction from the movable platform. It should be noted that in this embodiment of the application, the third position information can be used to indicate the position of the target object in the world coordinate system, or it can be used to indicate the position of the target object in the image coordinate system, or to indicate the target object. Position in other coordinate systems.

Exemplarily, the third position information includes at least one of the latitude, longitude and height of the target object; of course, the third position information may also include others, such as the distance of the target object relative to the movable platform. Exemplarily, the third position information is determined according to the position information of the movable platform and the distance of the target object relative to the movable platform. Optionally, the third position information includes relative position information and/or absolute position information of the target object. Both the position information and the absolute position information are determined according to the position information of the movable platform and the distance of the target object relative to the movable platform.

The positioning strategy may include one or more. For example, the positioning strategy includes smart tracking strategy (also called Smarttrack), dot positioning strategy (also called PIN Point) and laser ranging strategy (also called Range). ); Of course, the positioning strategy can also include others. It should be noted that when there are multiple positioning strategies, each positioning strategy is independent of each other.

Exemplarily, the positioning strategy includes an intelligent tracking strategy, a dot positioning strategy, and a laser ranging strategy. Among them, the movable platform can locate the target object through a navigation and/or laser ranging device. Navigation can be GPS or other. The third location information obtained from the mobile platform may be different for different positioning strategies. For example, for smart tracking strategies, the third location information may include the latitude, longitude and/or height of the target object, or the position of the target object in the image coordinate system. Information; for the dot positioning strategy, the third position information may include the latitude, longitude and/or height of the target object and/or the distance of the target object relative to the movable platform; for the laser ranging strategy, the third position information may include the latitude, longitude and/or distance of the target object / Or the height and / or the distance of the target object relative to the movable platform.

The interactive interface displays the identification corresponding to each positioning strategy, and the user can operate (such as clicking, double-clicking, or long-pressing, etc.) the identification corresponding to each positioning strategy to select the corresponding positioning strategy. Exemplarily, referring to FIG. 3A, the interactive interface displays a fifth indicator 21 corresponding to the smart tracking strategy, a sixth indicator 22 corresponding to the dot positioning strategy, and a seventh indicator 23 corresponding to the laser ranging strategy. During target calibration, the user can operate one of the fifth identifier 21, the sixth identifier 22, and the seventh identifier 23 at the same time, so that the positioning strategy corresponding to the currently operated identifier is in the trigger state, and the remote control terminal will be based on the current status The positioning identifier in the triggered state obtains the third position information from the movable platform.

Optionally, the positioning strategy can default to one of an intelligent tracking strategy, a dot positioning strategy, and a laser ranging strategy. When the positioning strategy needs to be switched, the corresponding identification can be operated.

The first user instruction may be generated when the user clicks or box-selects an object in the first image transmission screen, or the first user instruction may also be generated when the user clicks the logo corresponding to the positioning strategy. For example, in some embodiments, the first user instruction is generated when the user clicks or box selects an object in the first image transmission screen, which is suitable for use scenarios where the positioning strategy is the default positioning strategy. Exemplarily, the positioning strategy is the default intelligent tracking strategy. The objects in the first image transmission screen (such as people, cars, boats, etc.) can be identified through the control device of the movable platform, and the control will be marked on the interactive interface. For the recognition results of the device (the first object 31, the second object 32, and the third object 33 in FIG. 3A), the first user instruction is generated when the user clicks the object corresponding to the recognition result. Click includes one of single click and double click, and can also include the other. Exemplarily, please refer to FIG. 3A again. When the user clicks on the second object 32, the target object is the second object 32.

In some embodiments, the first user instruction is generated when the user clicks the logo corresponding to the positioning strategy displayed on the first image transmission screen. Optionally, the first user instruction is generated when the user clicks the mark corresponding to the dot positioning strategy displayed on the first image transmission screen, or the first user instruction is generated when the user clicks the laser ranging strategy displayed on the first image transmission screen Generated when marking.

In S203, first position information of the target object on the first image transmission screen is acquired.

Exemplarily, the first location information is the pixel coordinates of the target object on the first image transmission screen.

Wherein, the first position information of the target object on the first image transmission screen can be obtained by using an existing image recognition algorithm, which is not described in the embodiment of the present application.

Exemplarily, in some embodiments, the positioning strategy is an intelligent tracking strategy. Optionally, after obtaining the first user instruction, before obtaining the first position information of the target object in the first image transmission screen, the first instruction is sent Information to a mobile platform. In this embodiment, the first indication information is used to instruct the movable platform to adjust the posture of the first lens, so that the target object in the first image transmission screen moves to the first specific position of the first image transmission screen. The first location information is location information of the first specific location. Exemplarily, the first specific position includes the center position of the first video transmission screen; of course, the first specific position may also be other positions of the first video transmission screen.

Exemplarily, after receiving the first instruction information, the movable platform controls the shooting device through the control device to adjust the posture of the shooting device, thereby adjusting the posture of the first lens. Exemplarily, the control device may adjust at least one of the yaw attitude, pitch attitude, and roll attitude of the camera to achieve the purpose of adjusting the attitude of the camera.

Exemplarily, the camera is mounted on a movable platform through a pan-tilt, and the attitude of the camera can be adjusted by adjusting the attitude of the pan-tilt.

Further optionally, the first indication information is also used to instruct the movable platform to adjust the shooting parameters of the first lens, so that the size of the target object in the first image transmission screen in the first image transmission screen is a preset size, which is convenient for the user Observe the target object. Among them, the size of the preset size can be set as required. Exemplarily, the first indication information is also used to instruct the movable platform to adjust the zoom factor of the first lens, so that the size of the target object in the first image transmission screen is a preset size.

Exemplarily, please combine FIGS. 3A and 3B. The user selects (by clicking or box selection or other operation methods) the second object 32 in the first image transmission screen shown in FIG. 3A as the target object, and the remote control terminal will Send the first instruction information to the movable platform. After receiving the first instruction information, the movable platform adjusts the posture of the first lens through the control device so that the second object 32 moves to the center of the first image transmission screen and controls The device adjusts the zoom factor of the first lens so that the second object 32 is enlarged by a preset factor so that the size of the target object in the first image transmission screen is the preset size, as shown in FIG. 3B. The user only needs to perform the target selection operation, and the user can observe the target object clearly, intuitively, and in real time without unnecessary operations.

The intelligent tracking strategy can obtain the real-time location information of the target object. Therefore, the intelligent tracking strategy is more suitable for calibrating and tracking the moving target object. If the target object is a suspect, the location of the suspect can be obtained in real time through the intelligent tracking strategy The arrest operation.

It should be noted that the third location information corresponding to the smart tracking strategy may include the latitude, longitude and height of the target object, where the latitude and longitude of the target object is determined according to the latitude and longitude of the movable platform and the height of the movable platform, and the height of the target object is based on The height of the movable platform is determined. That is, the third position information corresponding to the smart tracking strategy can obtain the relative position of the target object.

In some embodiments, the positioning strategy is a dot positioning strategy, and the target object is an object at a second specific position on the first video transmission screen. Exemplarily, the second specific position includes the center position of the first image transmission screen; of course, the second specific position may also be other positions of the first image transmission screen.

Before locating the target object through the dot positioning strategy, if the object as the target object in the first image transmission screen is not currently in the second specific position, you need to move the object as the target object in the first image transmission image to the second specific position Position; if the object as the target object in the first image transmission screen is currently in the second specific position, the user can directly operate the mark corresponding to the dot positioning strategy to select the dot positioning strategy as the positioning strategy used for the calibration target.

Among them, the strategy for moving the object that is the target object in the first image transmission screen to the second specific position may include, but is not limited to, the following two strategies:

(1) Before acquiring the third location information, output the second indication information. The second indication information is used to instruct the user to adjust the pose of the first lens through the control device of the movable platform, so that the target object in the first image transmission screen is at the second specific position.

It should be noted that the control device and the remote control terminal may be the same device or different devices; for example, the control device is a remote controller of a movable platform, and the remote control terminal is a mobile phone.

Wherein, the user can adjust at least one of the poses of the movable platform and the shooting device by operating the control device to adjust the pose of the first lens. In this way, the purpose of moving the target object in the first image transmission screen to the second specific position of the first image transmission screen can be achieved by manually controlling the joystick of the remote control to adjust the pose of the aircraft.

(2) Before the first user instruction is acquired, the second user instruction is acquired, and the third instruction information is sent to the movable platform according to the second user instruction. Wherein, the second user instruction is used to instruct the object in the first image transmission screen to be moved to the second specific position. Exemplarily, the second user instruction is for the user to double-click the object to be moved to the second specific position in the first image transmission screen. It should be understood that the second user instruction can also be generated in other ways. The third indication information is used to instruct the movable platform to automatically adjust the pose of the first lens, so that the object to be moved to the second specific position moves to the second specific position. It should be noted that, in this application, various instruction information can be output in the form of a dialog box, or various instruction information can be output in other ways.

In this way, the purpose of moving the target object in the first image transmission screen to the second specific position of the first image transmission screen is realized in an automatic manner.

For example, referring to Fig. 4A, the second object 32 needs to be calibrated, that is, the second object 32 is the target object, and the second object 32 is not currently in the center position of the first image transmission screen. You can pass (1) or (2) ) Moves the second object 32 to the center position of the first image transmission screen. And after the second object 32 moves to the center position of the first image transmission screen, click the mark corresponding to the dot positioning strategy, dot the center position of the first image transmission screen, and record the third position information of the second object 32. For example, augmented reality (Augmented Reality), dynamic or static dot method may be used to dot the ZTE position of the first image transmission screen. In addition, you can click multiple dots on the first image transmission screen.

In this embodiment, the third position information is determined according to the position information of the movable platform and the distance between the target object and the movable platform. In this way, the relative position and absolute position of the target object can be determined, that is, the third position information may include At least one of relative position information and absolute position information of the target object. It should be noted that the distance between the target object and the movable platform can be detected by the laser ranging device of the movable platform.

In some embodiments, the positioning strategy is a laser ranging strategy, and the target object is an object at a fourth specific position on the first image transmission frame. Exemplarily, the fourth specific position includes the center position of the first image transmission screen; of course, the fourth specific position may also be other positions of the first image transmission screen.

Exemplarily, please refer to Fig. 5. When the seventh mark 23 corresponding to the laser ranging strategy is triggered, the “calibrating” mark is displayed in the center of the first image transmission screen, indicating that it is currently aligned with the first image transmission screen. To obtain the distance of the target object relative to the movable platform and the latitude, longitude and height of the target object.

In S204, the target object is marked on the first image transmission screen according to the first location information.

In this way, the goal of calibrating the target object on the first image transmission screen is achieved.

In the embodiment of the present application, the annotation may include the icon and the third position information of the target object, but it is not limited to this.

In the embodiment of the present application, when the target object is marked, the icon is displayed on the target object, that is, the pixels of the icon cover at least part of the pixels of the target object. The icon may include at least one of graphics, numbers, and symbols, and the icon may also include others.

Exemplarily, in some embodiments, the target calibration method may further include: when the icon on the target object is in a triggered state, displaying third position information on the icon. Further, in some embodiments, the target calibration method may further include: hiding the third position information when the icon on the target object is in a non-triggered state. It should be noted that when the icon is operated, the icon is in a triggered state; when the icon is not operated, the icon is in a non-triggered state. Among them, the icon being operated may include the icon being clicked, such as clicking, double-clicking, or long-pressing.

Optionally, in some embodiments, the labeled icons corresponding to different target objects of the same positioning strategy are different to distinguish the target objects; in some embodiments, the labeled icons corresponding to different target objects of the same positioning strategy are the same.

Optionally, there are multiple positioning strategies. In some embodiments, the labeled icons corresponding to different positioning strategies are different to distinguish the positioning strategies of the target object; in some embodiments, the labeled icons corresponding to different positioning strategies are the same.

Exemplarily, the different icons may include at least one of different icon size, icon shape, and icon color. The same icon means that the icon size, icon shape, and icon color are all the same. Exemplarily, the smart tracking strategy is used to mark the target object 1 and the target object 2 in the first image transmission screen, the marked icon corresponding to the target object 1 is a green circle, and the marked icon corresponding to the target object 2 is a green square. frame.

In the embodiments of the present application, the marked icons corresponding to different target objects of the same positioning strategy are the same, and the marked icons corresponding to different positioning strategies are different. For example, the marked icon corresponding to the smart tracking strategy is a green "+", the marked icon corresponding to the dot positioning strategy is a green "◇", and the marked icon corresponding to the laser ranging strategy is a red "+".

Further, when the same target object is calibrated on the first image transmission screen through the intelligent tracking strategy and the laser ranging strategy, the target object is at the center of the first image transmission screen, and the marked icon of the target object is the intelligent tracking strategy and Corresponding marked icon. Exemplarily, that the target object is at the center position of the first video transmission screen means that the center of the target object coincides with the center position of the first video transmission screen. It should be understood that when the deviation between the center of the target object and the center position of the first video transmission screen is less than the preset deviation threshold, it can also be considered that the center of the target object coincides with the center position of the first video transmission screen.

In addition, when calibrating the target object, if the intelligent tracking strategy and the laser ranging strategy are used to locate the third position information of the target object at the same time, since the laser ranging strategy can obtain the distance of the target object relative to the movable platform, it is combined with the intelligent tracking strategy The obtained real-time position information of the target object and the distance of the target object relative to the movable platform obtained by the laser ranging strategy can determine the real-time absolute position of the target object, so that accurate tracking of the target object can be achieved.

Exemplarily, use intelligent tracking strategies to calibrate movable objects in the real world (such as people, animals, vehicles, etc.), and use dot positioning strategies to calibrate stationary objects in the real world (such as buildings, mountains, rivers, etc.) Therefore, the third location information contained in the label corresponding to the smart tracking strategy will change as the position of the target object changes in the real world, and the third location information contained in the label corresponding to the dot positioning strategy will not change.

In some embodiments, when the positioning strategy is a laser ranging strategy, the third position information includes absolute position information of the target object. According to the first position information, the implementation process of marking the target object on the first image transmission screen can be Including: according to the absolute position information contained in the first position information and the third position information, an augmented reality AR projection label is performed on the target object on the first image transmission screen, and the AR projection label is more eye-catching.

In addition, when the positioning strategy is a laser ranging strategy, the dot calibration operation can also be performed on the map corresponding to the first image transmission screen. Please refer to Figures 3A, 3B and 4A again. When the first image transmission screen is displayed on the interactive interface, the interactive interface also displays the eighth mark 41 corresponding to the map corresponding to the first image transmission screen. When the user operates the eighth image When the mark 41 makes the eighth mark in the triggered state, the map corresponding to the first image transmission screen will be displayed on the interactive interface, as shown in FIG. 4B.

In the following, the implementation process of marking and calibrating on the map corresponding to the first image transmission screen will be explained in detail:

(1) Display the map corresponding to the first image transmission screen on the interactive interface;

Exemplarily, the map corresponding to the first image transmission screen is a map around the current location of the movable platform, and the user can operate the interactive interface to zoom in or zoom out the map.

(2) A third user instruction is obtained, where the third user instruction is generated when the user operates the mark corresponding to the dot positioning strategy displayed on the map;

Referring to FIG. 4B, when the interactive interface displays the map corresponding to the first image transmission screen, the sixth indicator 22 corresponding to the dot positioning strategy will be displayed on the map. Further, the first image transmission screen 1 and the image transmission screen 2 corresponding to the FPV camera are also displayed on the map. The user can watch the image transmission screen while watching the map, which is conducive to the intuitive presentation of information. It should be noted that, in the embodiments of the present application, the image transmission images of different lenses may be obtained by different lenses of the same shooting device, or may be obtained by different shooting devices. Exemplarily, the photographing device includes a zoom lens and a wide-angle lens. The first image transmission picture may be a picture transmission picture obtained by a zoom lens or a picture transmission picture obtained by a wide-angle lens; exemplary, the photographing device includes a zoom lens, a wide-angle lens and Infrared lens, the first image transmission image can be the image transmission image obtained by the zoom lens, the image transmission image obtained by the wide-angle lens, or the image transmission image obtained by the infrared lens; exemplary, the movable platform includes the first image The device and the FPV camera, the first image transmission picture may be a picture transmission picture obtained by the first camera, or a picture transmission picture obtained by the FPV camera.

(3) Mark the target object at the third specific location on the map according to the third user instruction.

In this way, the purpose of marking the target object on the map corresponding to the first image transmission screen is achieved.

Further, in some embodiments, after marking the target object at the third specific location on the map according to the third user instruction, when the icon corresponding to the annotation on the map is triggered, if the fourth user instruction is obtained , According to the fourth user instruction, modify and/or delete the height in the third position information contained in the annotation. Wherein, the icon corresponding to the label on the map can be triggered by a user operation (such as clicking or box selection) of the icon corresponding to the label, and the fourth user instruction can be generated when the user operates the virtual keyboard and/or virtual mouse on the interactive interface . By modifying the function, the accuracy of target calibration is improved; by deleting the function, different user needs can be met.

Further, in some embodiments, after the target object at the third specific location on the map is marked according to the third user instruction, when the icon corresponding to the mark on the map is triggered, if the fifth user instruction is obtained , Move the position of the icon on the map according to the fifth user instruction, and replace the longitude and latitude in the third position information contained in the annotation with the longitude and latitude corresponding to the position of the moved icon to meet different user needs. Exemplarily, the fifth user instruction instructs the user to perform the first operation on the icon first, and then perform the second operation on the icon; exemplary, the first operation includes continuously clicking the icon for longer than the preset period of time, and the second operation includes dragging. icon. The size of the preset duration can be set as required, for example, the preset duration can be 5 seconds or other sizes. It should be understood that the fifth user instruction may also include other operations performed by the user on the icon, and the first operation and the second operation may also be of other types.

When the positioning strategy is a laser ranging strategy, the target calibration method may further include: obtaining the distance of the target object relative to the movable platform obtained by positioning the target object. Further, according to the first location information, the implementation process of labeling the target object on the first image transmission screen may include: according to the first location information and the distance of the target object relative to the movable platform, matching on the first image transmission screen The target object is labeled. Exemplarily, the third position information corresponding to the annotation includes the distance of the target object relative to the movable platform, and the user can determine the distance of the target object relative to the movable platform through the annotation, so that the absolute position of the target object can be determined.

In S205, according to the first position information, the relative positional relationship between the first lens and the second lens, the shooting parameters of the first lens, and the shooting parameters of the second lens, the second image acquired by the target object in the second lens is determined Pass the second position information in the screen.

When the postures of the first lens and the second lens are approximately the same and the distance is less than a preset threshold, it can be considered that the positions of the two are coincident. At this time, it is only necessary to know the shooting parameters of the first lens and the shooting parameters of the second lens (for example, the FOV of both) to determine the second position information of the target object in the second image transmission image obtained by the second lens .

Optionally, the shooting parameters include the shooting angle of view FOV; of course, the shooting parameters may also include others.

Further, after determining the second position information of the target object in the second image transmission screen obtained by the second lens, mark the target object on the second image transmission screen according to the second position information. Through the operation of the user on the first image transmission screen, the purpose of simultaneously calibrating the target object on the first image transmission screen and the second image transmission screen is realized, thereby realizing the sharing of the calibration results when the target object is calibrated on different image transmission screens. Improve the efficiency of calibration, and improve the efficiency of collaboration when multi-person collaborative operation of the mobile platform.

Exemplarily, the pilot 1 views the first image transmission screen through the interactive interface of the remote control terminal 1 to perform operations, and the pilot 2 views the second image transmission screen through the interactive interface of the remote control terminal 2 to perform operations. When the pilot 1 calibrates a target object 1 on the first image transmission screen, the pilot 2 may also see the information that the target object 1 is calibrated on the second image transmission screen.

In the embodiment of this application, the label of the target object on the first image transmission screen is the same as the label of the target object on the second image transmission screen; of course, in other embodiments, the label of the target object on the first image transmission screen The label on the second image transmission screen may be different from that of the target object.

Further, in some embodiments, when the positioning strategy is a laser ranging strategy, after determining the second position information of the target object in the second image transmission image obtained by the second lens, if the second position information is not in the second On the image transmission screen, the label of the target object is displayed on the edge of the second image transmission screen. Wherein, the position of the edge relative to the center position of the second video transmission screen is used to indicate the position of the target object relative to the center position of the second video transmission screen. In this way, the user can be informed of the location of the target object.

Further, in some embodiments, the target calibration method may further include: marking the target object on the map corresponding to the first image transmission screen according to the third location information. In this way, through the user's operation on the first image transmission screen, the goal of simultaneously calibrating the target object on the first image transmission screen and the map corresponding to the first image transmission screen is realized, that is, after the image transmission screen is calibrated for the target object, The map shares the calibration results to improve the efficiency of calibration, and when multiple people collaborate to operate the movable platform, the collaboration can be smoother and the efficiency of collaboration is improved. It should be understood that the target object marked on the map can also be shared to the image transmission screen synchronously.

Further, in some embodiments, the target calibration method may further include: synchronizing the annotations to the map corresponding to the external device and/or the image transmission screen and/or the operation guide page of the movable platform. Optionally, the external device is a background monitoring device, or may be HSI, other web platforms, etc. Exemplarily, the external device is a background monitoring device (usually used by the commander), and the calibration result of the pilot calibration target through the remote control terminal can be shared with the background monitoring device, which realizes the synchronization of information between the pilot and the commander, and the command The officer can schedule multiple pilots based on these synchronized information to improve operational efficiency. The operation guide page is used to indicate the operation status of the movable platform.

Exemplarily, the movable platform is a drone, and the operation guide page is the flight guide page of the drone, and the flight guide page is described. When the user controls the flight of the drone through the remote control terminal, the flight guide page is displayed on the display device of the remote control terminal or the display device connected to the remote control terminal, so that the user can know the flight status of the drone. Among them, the flight guide page includes a flight guide compass, which is used to simultaneously identify the position of the drone that is in communication with the remote control terminal and the position of the drone's gimbal. The flight guide page also displays the drone's position. The current screen of the camera. Wherein, the flight guidance compass includes any one of the attitude ball and the horizontal status indicator (Horizontal Situation Indicator, HSI). The display position of the flight guidance compass can be set according to the actual situation, which is not specifically limited in this application. For example, The lower middle area of the flight guide page displays the flight guide compass. By identifying the position of the drone and the position of the drone's pan/tilt, it is convenient for the user to control the attitude of the drone's pan/tilt and the attitude of the drone, and can control the drone to take photos or videos that the user wants. The flight guidance compass is an azimuth indication mark indicating the azimuth on the flight guidance page, and it can be a square, a circle, an ellipse, or other shapes that can indicate the azimuth. For example, when the flight guidance compass is a square, the four corners of the direction are set to four directions: east, west, south, north, and the current position of the drone and the pan/tilt can be indicated in the square compass. In the following, the flight guidance compass is circular as an example for description.

In some embodiments, the flight guidance compass rotates with the rotation of the drone, and the center area of the flight guidance compass displays a drone icon. The drone icon is used to indicate the drone, and the drone icon does not follow. As the drone rotates and rotates, the edge area of the flight guidance compass shows the corresponding indicator characters for the true east, west, south and true north directions. The edge area of the flight guidance compass also shows clouds. PTZ icon, the PTZ icon is used to represent the PTZ of the drone. The position of the PTZ icon in the edge area is determined according to the direction of the Yaw axis of the PTZ. The position of the PTZ icon in the edge area follows The direction of the pan-tilt changes. By displaying the drone icon, the gimbal icon, and the corresponding indication characters of the true east, true west, true south and true north directions on the flight guidance compass, the user can know the position and position of the gimbal based on the displayed flight guidance compass. The position of the drone is convenient for the user to control the attitude of the drone's gimbal and the attitude of the drone.

Among them, the drone icon, pan/tilt icon, and indicator characters can be set according to actual conditions. This application does not specifically limit this. For example, the indicator characters corresponding to the direction of due east, west, south and north are respectively E, W, S, and N. The drone icon is an arrow, circle, triangle, or other shapes, and the gimbal icon is a triangle, quadrilateral, pentagon, or other shapes.

In some embodiments, the angle value corresponding to the nose of the drone is displayed near the flight guidance compass, and the displayed angle value is used to indicate the nose of the drone, where the angle value is that of the drone. The angle of the nose with respect to true north, true south, true west, or true east. By displaying the corresponding angle value of the drone's nose on the flight guidance compass, the user can know the drone's nose orientation relative to true north, true south, true west, or true east based on the displayed angle value. The angle of direction is convenient for the user to control the drone.

In some embodiments, the drone icon is an arrow icon, the arrow icon is fixed to the top of the flight guide page, and the direction of the arrow icon is consistent with the nose of the drone; when the orientation of the drone changes, When the flight guidance compass rotates and the drone includes multiple gimbals, the edge area of the flight guidance compass displays the corresponding gimbal icon for each gimbal, and the color of each gimbal icon is different, the flight guidance compass The edge area of also displays multiple angle scale lines and the corresponding angle value of each angle scale line. Among them, the angle value is the angle deviating from the true north direction. By displaying the corresponding gimbal icon of each gimbal and multiple angle scale lines and the corresponding angle value of each angle scale line in different colors on the flight guidance compass, the user can be accurate and clear based on the displayed flight guidance compass Knowing the position of the gimbal and the position of the drone is convenient for the user to control the attitude of the gimbal of the drone and the attitude of the drone.

The flight guidance compass also includes a follow icon, which is used to indicate the object that the drone follows. The position of the follow icon on the flight guidance compass is based on the direction and distance of the object followed by the drone relative to the drone. Confirmed; when the distance of the object followed by the drone relative to the drone is less than the preset distance, the follow icon is located inside the flight guidance compass, and the distance of the object followed by the drone relative to the drone is greater than or equal to the preset distance. When setting the distance, the follow icon is located inside the edge area of the flight guidance compass; the mark point icon and the distance of the marked space point relative to the drone are also displayed near the flight guidance compass. Among them, the follow icon can be set based on actual conditions, and this application does not specifically limit this. For example, the follow icon is

The flight guide page also displays an object follow button. When the user touches the object follow button, the drone automatically recognizes people, vehicles, and ships and other objects, and adjusts the camera's focus so that objects such as people, vehicles, and ships are in the center of the screen. When the user selects After the following object, according to the direction and distance of the following object relative to the drone, a follow icon is displayed on the flight guidance compass.

As shown in Figure 6, the home point icon of the drone is displayed inside the flight guidance compass

At the same time, the home point icon is displayed near the lower right side of the flight guidance compass

The distance from the home point of the drone to the drone is 10m; the inner side of the edge area of the flight guidance compass is displayed with a marker icon

At the same time, a marker icon is displayed near the lower left side of the flight guidance compass

The distance from the marked space point to the drone is 45m; the follow icon is displayed inside the flight guidance compass

At the same time, a follow icon is displayed near the upper left side of the flight guidance compass

The distance from the following object to the drone is 5m.

The target calibration method of the embodiment of the present application can track and synchronize information for "dynamic targets" and "static targets", realize multi-platform closed-loop operation, and be suitable for industries such as security and emergency.

Corresponding to the target calibration method of the above-mentioned embodiment, an embodiment of the present application also provides a target calibration device. The target calibration device is provided in a remote control terminal. Referring to FIG. 7, the target calibration device may include a storage device and one or more Processors.

Among them, the storage device is used to store program instructions.

One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to perform the following operations: Obtain the first shot through the remote control terminal And the image transmission screen of the second lens, the first image transmission screen acquired by the first lens is displayed on the interactive interface of the remote control terminal; the first user instruction is obtained, wherein the first user instruction is used to instruct the first image transmission screen The target object to be calibrated; obtain the first position information of the target object on the first image transmission screen; mark the target object on the first image transmission screen according to the first position information; according to the first position information, the first lens and The relative positional relationship between the second lenses, the shooting parameters of the first lens, and the shooting parameters of the second lens determine the second position information of the target object in the second video image obtained by the second lens.

The processor of this embodiment can implement the target calibration method of the embodiment shown in FIG. 2 of the present application, and reference may be made to the description of the corresponding part in the foregoing embodiment.

Further, an embodiment of the present application also provides a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, the remote control terminal includes a main body and The target calibration device is supported by the main body.

Further, an embodiment of the present application also provides a target calibration system, which includes a remote control terminal and a movable platform. The remote control terminal includes a main body and the target calibration device of the foregoing embodiment, and the target calibration device is supported by the main body. The movable platform communicates with the remote control terminal, and the movable platform includes a first lens and a second lens.

In addition, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the target calibration method in the second embodiment are realized.

Example two

FIG. 8 is a method flow diagram of a target calibration method in another embodiment of the present application; the execution subject of the target calibration method in the embodiment of the present application is a remote control terminal. Referring to FIG. 8, the target calibration method in the embodiment of the present application may include S801 to S804.

Wherein, in S801, the image transmission screen acquired by the camera is displayed on the interactive interface of the remote control terminal.

The camera is mounted on a movable platform, and the camera can include one or more lenses. Wherein, when the photographing device includes multiple lenses, the image transmission image may be an image transmission image obtained by any one of the multiple lenses. Exemplarily, the image transmission picture is a picture transmission picture obtained by the first lens of the movable platform.

During the operation of the mobile platform, the image transmission screen will be sent back to the remote control terminal.

In S802, a first user instruction is obtained, where the first user instruction is used to instruct the target object to be calibrated in the image transmission screen and a positioning strategy for positioning the target object.

It should be noted that the location information in the embodiment of the present application is equivalent to the third location information in the first embodiment. In addition, different from the first embodiment, the positioning strategy in the embodiment of the present application includes at least one of a dot positioning strategy and a laser ranging strategy.

In S803, according to the positioning strategy, the position information of the target object is obtained from the movable platform, where the position information includes the distance of the target object relative to the movable platform.

In the embodiment of the present application, the position information can be used to indicate the position of the target object in the world coordinate system, and can also be used to indicate the position of the target object in the image coordinate system, or used to indicate the position of the target object in other coordinate systems. .

In S804, the target object is marked on the image transmission screen according to the location information.

Optionally, the label includes an icon and location information.

Optionally, the location information further includes at least one of the latitude, longitude and height of the target object.

Optionally, the target calibration method further includes: when the icon is in a triggered state, displaying position information on the icon.

Optionally, the target calibration method further includes: hiding the position information when the icon is in a non-triggered state.

Optionally, the positioning strategy includes a dot positioning strategy, and the first user instruction is generated when the user clicks the mark corresponding to the dot positioning strategy displayed on the image transmission screen.

Optionally, the target object is an object at a first specific position on the image transmission screen.

Optionally, the first specific position includes the center position of the image transmission screen.

Optionally, the method further includes: before acquiring the location information, outputting first indication information; the first indication information is used to instruct the user to adjust the posture of the shooting device through the control device of the movable platform, so that the image transmission screen The target object is in the first specific position.

Optionally, before obtaining the first user instruction, the method further includes: obtaining a second user instruction, where the second user instruction is used to instruct the object to be moved to the first specific position in the image transmission screen; and according to the second user instruction, sending The second instruction information is to the movable platform; wherein, the second instruction information is used to instruct the movable platform to adjust the posture of the photographing device so that the object to be moved to the first specific position moves to the first specific position.

Optionally, the position information is determined according to the position information of the movable platform and the distance of the target object relative to the movable platform.

Optionally, the position information includes the absolute position information of the target object. Marking the target object on the image transmission screen according to the position information includes: enhancing the target object on the image transmission screen according to the absolute position information contained in the position information Realistic AR projection annotation.

Optionally, the method further includes: displaying a map corresponding to the image transmission screen on the interactive interface; acquiring a third user instruction, where the third user instruction is generated when the user operates the mark corresponding to the dot positioning strategy displayed on the map ;According to the dot positioning strategy, obtain the location information of the target object from the movable platform; according to the location information, mark the target object at the second specific location on the map.

Optionally, after labeling the target object at the second specific location on the map according to the location information, it further includes: when the icon corresponding to the label on the map is triggered, if a fourth user instruction is obtained, then according to the fourth user instruction. User instructions to modify and/or delete the height in the position information contained in the label.

Optionally, after labeling the target object at the second specific location on the map according to the location information, it further includes: when the icon corresponding to the label on the map is triggered, if the fifth user instruction is obtained, then according to the fifth user instruction. The user instructs to move the position of the icon on the map, and replace the longitude and latitude in the position information contained in the label with the longitude and latitude corresponding to the position of the moved icon.

Optionally, the fifth user instruction instructs the user to perform the first operation on the icon first, and then perform the second operation on the icon.

Optionally, the first operation includes: the duration of continuously clicking the icon is greater than a preset duration, and the second operation includes: dragging the icon.

Optionally, the positioning strategy includes a laser ranging strategy, and the first user instruction is generated when the user clicks the mark corresponding to the laser ranging strategy displayed on the image transmission screen.

Optionally, the target object is an object at a third specific position on the image transmission screen.

Optionally, the third specific position includes the center position of the image transmission screen.

Optionally, the target calibration method further includes: synchronizing the annotations to the map corresponding to the external device and/or the image transmission screen and/or the operation guide page of the movable platform;

The operation guide page is used to indicate the operation status of the movable platform.

For the remaining unexpanded parts, please refer to the description of the corresponding parts in the above-mentioned embodiment 1, which will not be repeated here.

Corresponding to the target calibration method of the second embodiment, an embodiment of the present application also provides a target calibration device, the target calibration device is set in the remote control terminal, please refer to FIG. 7, the target calibration device may include a storage device and one or more Processors.

Among them, the storage device is used to store program instructions.

One or more processors call program instructions stored in the storage device. When the program instructions are executed, one or more processors are individually or collectively configured to implement the following operations: On the interactive interface of the remote control terminal Display the image transmission screen obtained by the camera; obtain the first user instruction, where the first user instruction is used to instruct the target object to be calibrated in the image transmission screen and the positioning strategy of the target object; The mobile platform obtains the location information of the target object, and the location information includes the distance of the target object relative to the movable platform; according to the location information, the target object is marked on the image transmission screen.

The processor of this embodiment can implement the target calibration method of the embodiment shown in FIG. 8 of the present application, and reference may be made to the description of the corresponding part in the foregoing embodiment.

The storage device of the foregoing embodiment stores the executable instruction computer program of the target calibration method. The storage device may include at least one type of storage medium. The storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD Or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM) , Magnetic storage, magnetic disks, optical disks, etc. Moreover, the target calibration device may cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory may be an internal storage unit of the target calibration device, such as the hard disk or memory of the target calibration device. The memory can also be an external storage device of the target calibration device, such as plug-in hard disks equipped on the target calibration device, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card )Wait. Further, the memory may also include both an internal storage unit of the target calibration device and an external storage device. The memory is used to store computer programs and other programs and data required by the device. The memory can also be used to temporarily store data that has been output or will be output.

The processor of the foregoing embodiment may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), and Application Specific Integrated Circuit (ASIC) , Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

Further, an embodiment of the present application also provides a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform is equipped with a photographing device, the remote control terminal includes a main body and the target calibration of the second embodiment above Device, the target calibration device is supported by the main body.

Further, an embodiment of the present application also provides a target calibration system, including a remote control terminal and a movable platform. The remote control terminal includes a main body and the target calibration device of the second embodiment above, and the target calibration device is supported by the main body. The movable platform communicates with the remote control terminal, and a camera is mounted on the movable platform.

The computer-readable storage medium may be an internal storage unit of the remote control terminal described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the remote control terminal, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash memory card (Flash Card), etc. equipped on the device . Further, the computer-readable storage medium may also include both an internal storage unit of the remote control terminal 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 remote control terminal, and can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-disclosed are only some of the embodiments of this application, which of course cannot be used to limit the scope of rights of this application. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A target calibration method, characterized in that it is suitable for a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, and the method includes:

Acquiring the image transmission images of the first lens and the second lens through the remote control terminal, and displaying the first image transmission image acquired by the first lens on the interactive interface of the remote control terminal;

Acquiring a first user instruction, where the first user instruction is used to instruct the target object to be calibrated in the first image transmission screen;

Acquiring first position information of the target object on the first image transmission screen;

Mark the target object on the first image transmission screen according to the first location information;

According to the first position information, the relative positional relationship between the first lens and the second lens, the shooting parameters of the first lens, and the shooting parameters of the second lens, it is determined that the target object is The second position information in the second video transmission picture acquired by the second lens.
The method according to claim 1, wherein the shooting parameter includes a shooting angle of view (FOV).
The method according to claim 1, wherein the movable platform includes a photographing device, the photographing device includes a plurality of lenses, and the first lens is one of the plurality of lenses included in the photographing device. One of, the second lens includes another lens of the plurality of lenses included in the photographing device; or,

The movable platform includes a plurality of photographing devices, the first lens is a lens of one of the photographing devices, and the second lens includes a lens of another photographing device.
The method according to claim 1, wherein after the determining the second position information of the target object in the second video transmission image obtained by the second lens, the method further comprises:

Mark the target object on the second image transmission screen according to the second location information.
The method according to claim 4, wherein the label of the target object on the first image transmission screen is the same as the label of the target object on the second image transmission screen.
The method according to claim 1 or 4, wherein the label includes an icon and third position information of the target object.
The method according to claim 6, wherein the third location information includes at least one of the longitude, latitude and height of the target object.
The method according to claim 6, wherein the method further comprises:

When the icon is in the triggered state, the third position information is displayed on the icon.
The method according to claim 6, wherein the method further comprises:

When the icon is in a non-triggered state, the third position information is hidden.
The method according to claim 6, wherein the first user instruction is also used to indicate a positioning strategy for positioning the target object;

The third position information is obtained by positioning the movable platform according to the positioning strategy.
The method according to claim 10, wherein the positioning strategy comprises an intelligent tracking strategy.
The method according to claim 11, wherein after obtaining the first user instruction, before obtaining the first position information of the target object in the first image transmission screen, the method further comprises:

Send first instruction information to the movable platform, where the first instruction information is used to instruct the movable platform to adjust the posture of the first lens so that the target object in the first image transmission screen moves To the first specific position of the first image transmission screen;

The first location information is location information of the first specific location.
The method according to claim 12, wherein the first specific position comprises a center position of the first image transmission screen.
The method according to claim 12, wherein the first indication information is further used to instruct the movable platform to adjust the shooting parameters of the first lens so that the The size of the target object in the first image transmission screen is a preset size.
The method according to claim 1, wherein the first user instruction is generated when the user clicks or box selects an object in the first image transmission screen.
The method according to claim 15, wherein the click includes one of a single click and a double click.
The method according to claim 10, wherein the positioning strategy comprises a dot positioning strategy.
The method according to claim 17, wherein the first user instruction is generated when the user clicks the mark corresponding to the dot positioning strategy displayed on the first image transmission screen.
18. The method according to claim 18, wherein the target object is an object at a second specific position of the first image transmission screen.
The method according to claim 19, wherein the second specific position comprises a center position of the first image transmission screen.
The method according to claim 19, wherein the method further comprises:

Before acquiring the third location information, output second indication information;

The second indication information is used to instruct the user to adjust the posture of the first lens through the control device of the movable platform, so that the target object in the first image transmission screen is at the second specific position .
The method according to claim 19, wherein before the obtaining the first user instruction, the method further comprises:

Acquiring a second user instruction, where the second user instruction is used to instruct an object to be moved to the second specific position in the first image transmission screen;

Sending third instruction information to the movable platform according to the second user instruction;

Wherein, the third indication information is used to instruct the movable platform to adjust the posture of the first lens, so that the object to be moved to the second specific position moves to the second specific position.
The method according to claim 17, wherein the third position information is determined based on the position information of the movable platform and the distance of the target object relative to the movable platform.
23. The method according to claim 23, wherein the third position information includes absolute position information of the target object, and according to the first position information, the first image transmission screen The target object is labeled, including:

According to the absolute position information contained in the first position information and the third position information, an augmented reality AR projection annotation is performed on the target object on the first image transmission screen.
The method according to claim 17, wherein the method further comprises:

Displaying a map corresponding to the first image transmission screen on the interactive interface;

Acquiring a third user instruction, where the third user instruction is generated when the user operates the mark corresponding to the dot positioning strategy displayed on the map;

According to the third user instruction, mark the target object at the third specific position on the map.
The method according to claim 25, wherein after the marking the target object at the third specific position on the map according to the third user instruction, the method further comprises:

When the icon corresponding to the label on the map is triggered, if a fourth user instruction is obtained, modify and/or delete the height in the third location information contained in the label according to the fourth user instruction .
The method according to claim 25, wherein after the marking the target object at the third specific position on the map according to the third user instruction, the method further comprises:

When the icon corresponding to the label on the map is triggered, if a fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the label included The longitude and latitude in the third position information is replaced with the longitude and latitude corresponding to the position of the icon after the movement.
The method according to claim 27, wherein the fifth user instruction instructs the user to perform a first operation on the icon first, and then perform a second operation on the icon.
The method according to claim 28, wherein the first operation comprises: continuously clicking the icon for a duration greater than a preset duration, and the second operation comprises: dragging the icon.
The method according to claim 10, wherein the positioning strategy comprises a laser ranging strategy.
The method according to claim 30, wherein the method further comprises:

Acquiring the distance of the target object relative to the movable platform obtained by positioning the target object;

The marking the target object on the first image transmission screen according to the first location information includes:

Mark the target object on the first image transmission screen according to the first position information and the distance of the target object relative to the movable platform.
The method according to claim 30, wherein the first user instruction is generated when the user clicks the mark corresponding to the laser ranging strategy displayed on the first image transmission screen.
The method according to claim 32, wherein the target object is an object at a fourth specific position on the first image transmission screen.
The method according to claim 33, wherein the fourth specific position comprises a center position of the first image transmission screen.
The method according to claim 30, wherein after the determining the second position information of the target object in the second video transmission image obtained by the second lens, the method further comprises:

If the second location information is not on the second image transmission screen, display the label of the target object on the edge of the second image transmission screen;

Wherein, the position of the edge relative to the center position of the second video transmission screen is used to indicate the position of the target object relative to the center position of the second video transmission screen.
The method according to claim 10, wherein the positioning strategy includes a plurality of positioning strategies, and the marked icons corresponding to different positioning strategies are different.
The method according to claim 36, wherein when the target object is calibrated in the first image transmission screen through the intelligent tracking strategy and the laser ranging strategy in the positioning strategy, the target object is in The center position of the first image transmission screen, and the marked icon of the target object is the smart tracking strategy and the corresponding marked icon.
The method according to claim 6, wherein the method further comprises:

According to the third location information, the target object is marked on the map corresponding to the first image transmission screen.
The method according to claim 1, wherein the method further comprises:

Synchronizing the annotation to the external device and/or the map corresponding to the image transmission screen and/or the operation guide page of the movable platform;

The operation guide page is used to indicate the operation status of the movable platform.
A target calibration device, characterized in that the target calibration device is provided in a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Acquiring the image transmission images of the first lens and the second lens through the remote control terminal, and displaying the first image transmission image acquired by the first lens on the interactive interface of the remote control terminal;

Acquiring a first user instruction, where the first user instruction is used to instruct the target object to be calibrated in the first image transmission screen;

Acquiring first position information of the target object on the first image transmission screen;

Mark the target object on the first image transmission screen according to the first location information;

According to the first position information, the relative positional relationship between the first lens and the second lens, the shooting parameters of the first lens, and the shooting parameters of the second lens, it is determined that the target object is The second position information in the second video transmission picture acquired by the second lens.
The device of claim 40, wherein the shooting parameter includes a shooting angle of view (FOV).
The device according to claim 40, wherein the movable platform comprises a photographing device, the photographing device comprises a plurality of lenses, and the first lens is one of the plurality of lenses included in the photographing device One of, the second lens includes another lens of the plurality of lenses included in the photographing device; or,

The movable platform includes a plurality of photographing devices, the first lens is a lens of one of the photographing devices, and the second lens includes a lens of another photographing device.
The device according to claim 40, wherein the one or more processors separately determine the second position information of the target object in the second image transmission screen obtained by the second lens Or collectively also configured to perform the following operations:

Mark the target object on the second image transmission screen according to the second location information.
The device according to claim 43, wherein the label of the target object on the first image transmission screen is the same as the label of the target object on the second image transmission screen.
The device according to claim 40 or 43, wherein the label includes an icon and third position information of the target object.
The device according to claim 45, wherein the third location information includes at least one of the longitude, latitude, and height of the target object.
The device according to claim 45, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the icon is in the triggered state, the third position information is displayed on the icon.
The device according to claim 45, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the icon is in a non-triggered state, the third position information is hidden.
The device according to claim 45, wherein the first user instruction is further used to indicate a positioning strategy for positioning the target object;

The third position information is obtained by positioning the movable platform according to the positioning strategy.
The device according to claim 49, wherein the positioning strategy comprises an intelligent tracking strategy.
The device according to claim 50, wherein after the one or more processors obtain the first user instruction, before obtaining the first position information of the target object in the first image transmission screen, Separately or collectively, it is also configured to perform the following operations:

Send first instruction information to the movable platform, where the first instruction information is used to instruct the movable platform to adjust the posture of the first lens so that the target object in the first image transmission screen moves To the first specific position of the first image transmission screen;

The first location information is location information of the first specific location.
The device of claim 51, wherein the first specific position comprises a center position of the first image transmission screen.
The device according to claim 51, wherein the first indication information is further used to instruct the movable platform to adjust the shooting parameters of the first lens so that the The size of the target object in the first image transmission screen is a preset size.
The device according to claim 40, wherein the first user instruction is generated when the user clicks or box selects an object in the first image transmission screen.
The device according to claim 54, wherein the click includes one of a single click and a double click.
The device according to claim 49, wherein the positioning strategy comprises a dot positioning strategy.
The device according to claim 56, wherein the first user instruction is generated when the user clicks the mark corresponding to the dot positioning strategy displayed on the first image transmission screen.
The device of claim 57, wherein the target object is an object at a second specific position of the first image transmission screen.
The device of claim 58, wherein the second specific position comprises a center position of the first image transmission screen.
The apparatus according to claim 58, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Before acquiring the third location information, output second indication information;

The second indication information is used to instruct the user to adjust the posture of the first lens through the control device of the movable platform, so that the target object in the first image transmission screen is at the second specific position .
The device according to claim 58, wherein the one or more processors are separately or collectively configured to perform the following operations before acquiring the first user instruction:

Acquiring a second user instruction, where the second user instruction is used to instruct an object to be moved to the second specific position in the first image transmission screen;

Sending third instruction information to the movable platform according to the second user instruction;

Wherein, the third indication information is used to instruct the movable platform to adjust the posture of the first lens, so that the object to be moved to the second specific position moves to the second specific position.
The device according to claim 56, wherein the third position information is determined based on the position information of the movable platform and the distance of the target object relative to the movable platform.
The apparatus according to claim 62, wherein the third position information includes absolute position information of the target object, and the one or more processors are in the first position information according to the first position information. When annotating the target object on an image transmission screen, it is separately or collectively further configured to perform the following operations:

According to the absolute position information contained in the first position information and the third position information, an augmented reality AR projection annotation is performed on the target object on the first image transmission screen.
The device according to claim 56, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Displaying a map corresponding to the first image transmission screen on the interactive interface;

Acquiring a third user instruction, where the third user instruction is generated when the user operates the mark corresponding to the dot positioning strategy displayed on the map;

According to the third user instruction, mark the target object at the third specific position on the map.
The device according to claim 64, wherein the one or more processors individually or after marking the target object at the third specific position of the map according to the third user instruction It is also collectively configured to implement the following operations:

When the icon corresponding to the label on the map is triggered, if a fourth user instruction is obtained, modify and/or delete the height in the third location information contained in the label according to the fourth user instruction .
The device according to claim 64, wherein the one or more processors individually or after marking the target object at the third specific position of the map according to the third user instruction It is also collectively configured to implement the following operations:

When the icon corresponding to the label on the map is triggered, if a fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the label included The longitude and latitude in the third position information is replaced with the longitude and latitude corresponding to the position of the icon after the movement.
The device of claim 66, wherein the fifth user instruction instructs the user to perform a first operation on the icon first, and then perform a second operation on the icon.
The device according to claim 67, wherein the first operation comprises: continuously clicking on the icon for a duration greater than a preset duration, and the second operation comprises: dragging the icon.
The device of claim 49, wherein the positioning strategy comprises a laser ranging strategy.
The device according to claim 69, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Acquiring the distance of the target object relative to the movable platform obtained by positioning the target object;

When the one or more processors mark the target object on the first image transmission screen according to the first location information, individually or collectively, they are further configured to perform the following operations:

Mark the target object on the first image transmission screen according to the first position information and the distance of the target object relative to the movable platform.
The device according to claim 69, wherein the first user instruction is generated when the user clicks the mark corresponding to the laser ranging strategy displayed on the first image transmission screen.
The device according to claim 71, wherein the target object is an object at a fourth specific position on the first image transmission screen.
The device of claim 72, wherein the fourth specific position comprises a center position of the first image transmission screen.
The device according to claim 69, wherein the one or more processors separately determine the second position information of the target object in the second image transmission frame obtained by the second lens Or collectively also configured to perform the following operations:

If the second location information is not on the second image transmission screen, display the label of the target object on the edge of the second image transmission screen;

Wherein, the position of the edge relative to the center position of the second video transmission screen is used to indicate the position of the target object relative to the center position of the second video transmission screen.
The device according to claim 49, wherein the positioning strategy comprises a plurality of positioning strategies, and the marked icons corresponding to different positioning strategies are different.
The device according to claim 75, wherein when the target object is calibrated in the first image transmission screen through the intelligent tracking strategy and the laser ranging strategy in the positioning strategy, the target object is in The center position of the first image transmission screen, and the marked icon of the target object is the smart tracking strategy and the corresponding marked icon.
The device according to claim 45, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

According to the third location information, the target object is marked on the map corresponding to the first image transmission screen.
The device according to claim 40, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Synchronizing the annotation to the external device and/or the map corresponding to the image transmission screen and/or the operation guide page of the movable platform;

The operation guide page is used to indicate the operation status of the movable platform.
A remote control terminal, characterized in that the remote control terminal communicates with a movable platform, the movable platform includes a first lens and a second lens, and the remote control terminal includes:

Subject; and

The target calibration device according to any one of claims 40 to 78, which is supported by the main body.
A target calibration system is characterized in that it comprises:

Remote control terminal; and

A movable platform, communicating with the remote control terminal, the movable platform including a first lens and a second lens;

Wherein, the remote control terminal includes a main body and the target calibration device according to any one of claims 40 to 78, and the target calibration device is supported by the main body.
A computer-readable storage medium with a computer program stored thereon, wherein the program is characterized in that when the program is executed by a processor, the target calibration method according to any one of claims 1 to 39 is realized.
A target calibration method, characterized in that it is suitable for a remote control terminal, the remote control terminal communicates with a movable platform on which a photographing device is mounted, and the method includes:

Displaying the image transmission screen acquired by the photographing device on the interactive interface of the remote control terminal;

Acquiring a first user instruction, where the first user instruction is used to instruct the target object to be calibrated in the image transmission screen and a positioning strategy for positioning the target object;

Obtaining the position information of the target object from the movable platform according to the positioning strategy, where the position information includes the distance of the target object relative to the movable platform;

According to the location information, the target object is marked on the image transmission screen.
The method according to claim 82, wherein the label includes an icon and the location information.
The method according to claim 83, wherein the position information further includes at least one of the latitude, longitude and height of the target object.
The method of claim 83, wherein the method further comprises:

When the icon is in a triggered state, the location information is displayed on the icon.
The method of claim 83, wherein the method further comprises:

When the icon is in a non-triggered state, hide the location information.
The method according to claim 82, wherein the positioning strategy comprises a dot positioning strategy, and the first user instruction is generated when the user clicks the mark corresponding to the dot positioning strategy displayed on the image transmission screen.
The method according to claim 87, wherein the target object is an object at a first specific position of the image transmission screen.
The method according to claim 88, wherein the first specific position comprises a center position of the image transmission screen.
The method of claim 88, wherein the method further comprises:

Before acquiring the location information, output first indication information;

The first indication information is used to instruct the user to adjust the posture of the photographing device through the control device of the movable platform, so that the target object in the image transmission screen is at the first specific position.
The method according to claim 88, wherein before the obtaining the first user instruction, the method further comprises:

Acquiring a second user instruction, where the second user instruction is used to instruct an object in the image transmission screen to be moved to the first specific position;

Sending second instruction information to the movable platform according to the second user instruction;

The second indication information is used to instruct the movable platform to adjust the posture of the photographing device, so that the object to be moved to the first specific position moves to the first specific position.
The method according to claim 87, wherein the position information is determined based on the position information of the movable platform and the distance of the target object relative to the movable platform.
The method according to claim 92, wherein the position information includes absolute position information of the target object, and the target object is marked on the image transmission screen according to the position information, include:

According to the absolute position information included in the position information, an augmented reality AR projection annotation is performed on the target object on the image transmission screen.
The method according to claim 87, wherein the method further comprises:

Displaying a map corresponding to the image transmission screen on the interactive interface;

Acquiring a third user instruction, where the third user instruction is generated when the user operates the mark corresponding to the dot positioning strategy displayed on the map;

Obtaining the position information of the target object from the movable platform according to the positioning and positioning strategy;

According to the location information, mark the target object at the second specific location on the map.
The method according to claim 94, wherein after the marking the target object at the second specific position on the map according to the position information, the method further comprises:

When the icon corresponding to the label on the map is triggered, if a fourth user instruction is obtained, the height in the location information included in the label is modified and/or deleted according to the fourth user instruction.
The method according to claim 94, wherein after the marking the target object at the second specific position on the map according to the position information, the method further comprises:

When the icon corresponding to the label on the map is triggered, if a fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the label included The longitude and latitude in the location information are replaced with the longitude and latitude corresponding to the position of the icon after the movement.
The method of claim 96, wherein the fifth user instruction instructs the user to perform a first operation on the icon first, and then perform a second operation on the icon.
The method according to claim 97, wherein the first operation comprises: continuously clicking the icon for a duration greater than a preset duration, and the second operation comprises: dragging the icon.
The method according to claim 82, wherein the positioning strategy comprises a laser ranging strategy, and the first user instruction is generated when the user clicks the mark corresponding to the laser ranging strategy displayed on the image transmission screen.
The method according to claim 99, wherein the target object is an object at a third specific position of the image transmission screen.
The method according to claim 100, wherein the third specific position comprises a center position of the image transmission screen.
The method according to claim 82, wherein the method further comprises:

Synchronizing the annotation to the external device and/or the map corresponding to the image transmission screen and/or the operation guide page of the movable platform;

The operation guide page is used to indicate the operation status of the movable platform.
A target calibration device, characterized in that the target calibration device is provided in a remote control terminal, the remote control terminal communicates with a movable platform, the movable platform is equipped with a photographing device, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Displaying the image transmission screen acquired by the photographing device on the interactive interface of the remote control terminal;

Acquiring a first user instruction, where the first user instruction is used to instruct the target object to be calibrated in the image transmission screen and a positioning strategy for positioning the target object;

Obtaining the position information of the target object from the movable platform according to the positioning strategy, where the position information includes the distance of the target object relative to the movable platform;

According to the location information, the target object is marked on the image transmission screen.
The device of claim 103, wherein the label includes an icon and the location information.
The device according to claim 104, wherein the location information further comprises at least one of the longitude, latitude and height of the target object.
The apparatus according to claim 104, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the icon is in a triggered state, the location information is displayed on the icon.
The apparatus according to claim 104, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the icon is in a non-triggered state, hide the location information.
The device according to claim 103, wherein the positioning strategy comprises a dot positioning strategy, and the first user instruction is generated when the user clicks the mark corresponding to the dot positioning strategy displayed on the image transmission screen.
The device of claim 108, wherein the target object is an object at a first specific position on the image transmission screen.
The device of claim 109, wherein the first specific position comprises a center position of the image transmission screen.
The apparatus according to claim 109, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Before acquiring the location information, output first indication information;

The first indication information is used to instruct the user to adjust the posture of the photographing device through the control device of the movable platform, so that the target object in the image transmission screen is at the first specific position.
The device according to claim 109, wherein the one or more processors are separately or collectively configured to perform the following operations before acquiring the first user instruction:

Acquiring a second user instruction, where the second user instruction is used to instruct an object in the image transmission screen to be moved to the first specific position;

Sending second instruction information to the movable platform according to the second user instruction;

The second indication information is used to instruct the movable platform to adjust the posture of the photographing device, so that the object to be moved to the first specific position moves to the first specific position.
The device according to claim 108, wherein the position information is determined based on the position information of the movable platform and the distance of the target object relative to the movable platform.
The device according to claim 113, wherein the position information includes absolute position information of the target object, and the one or more processors perform a comparison on the image transmission screen according to the position information. When the target objects are annotated, they are separately or collectively further configured to implement the following operations:

According to the absolute position information included in the position information, an augmented reality AR projection annotation is performed on the target object on the image transmission screen.
The apparatus according to claim 108, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Displaying a map corresponding to the image transmission screen on the interactive interface;

Acquiring a third user instruction, where the third user instruction is generated when the user operates the mark corresponding to the dot positioning strategy displayed on the map;

Obtaining the position information of the target object from the movable platform according to the positioning and positioning strategy;

According to the location information, mark the target object at the second specific location on the map.
The device according to claim 115, wherein the one or more processors individually or collectively mark the target object at the second specific position of the map according to the position information It is also configured to perform the following operations:

When the icon corresponding to the label on the map is triggered, if a fourth user instruction is obtained, the height in the location information included in the label is modified and/or deleted according to the fourth user instruction.
The device according to claim 115, wherein the one or more processors individually or collectively mark the target object at the second specific position of the map according to the position information It is also configured to perform the following operations:

When the icon corresponding to the label on the map is triggered, if a fifth user instruction is obtained, the position of the icon is moved on the map according to the fifth user instruction, and the label included The longitude and latitude in the location information are replaced with the longitude and latitude corresponding to the position of the icon after the movement.
The apparatus of claim 117, wherein the fifth user instruction instructs the user to perform a first operation on the icon first, and then perform a second operation on the icon.
The device according to claim 118, wherein the first operation comprises: continuously clicking on the icon for longer than a preset time period, and the second operation comprises: dragging the icon.
The device according to claim 103, wherein the positioning strategy comprises a laser ranging strategy, and the first user instruction is generated when the user clicks the mark corresponding to the laser ranging strategy displayed on the image transmission screen.
The device of claim 120, wherein the target object is an object at a third specific position on the image transmission screen.
The device of claim 121, wherein the third specific position comprises a center position of the image transmission screen.
The apparatus according to claim 103, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Synchronizing the annotation to the external device and/or the map corresponding to the image transmission screen and/or the operation guide page of the movable platform;

The operation guide page is used to indicate the operation status of the movable platform.
A remote control terminal, characterized in that the remote control terminal communicates with a movable platform, the movable platform is equipped with a photographing device, and the remote control terminal includes:

Subject; and

The target calibration device according to any one of claims 103 to 123, which is supported by the main body.
A target calibration system is characterized in that it comprises:

Remote control terminal; and

A movable platform that communicates with the remote control terminal, and a camera is mounted on the movable platform;

Wherein, the remote control terminal includes a main body and the target calibration device according to any one of claims 103 to 123, and the target calibration device is supported by the main body.
A computer-readable storage medium with a computer program stored thereon, wherein the program is characterized in that when the program is executed by a processor, the target calibration method according to any one of claims 82 to 102 is realized.