WO2023178609A1 - 图像处理方法、系统、终端及存储介质 - Google Patents

图像处理方法、系统、终端及存储介质 Download PDF

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Publication number
WO2023178609A1
WO2023178609A1 PCT/CN2022/082806 CN2022082806W WO2023178609A1 WO 2023178609 A1 WO2023178609 A1 WO 2023178609A1 CN 2022082806 W CN2022082806 W CN 2022082806W WO 2023178609 A1 WO2023178609 A1 WO 2023178609A1
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WIPO (PCT)
Prior art keywords
target image
terminal
image frame
received
communication connection
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Ceased
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PCT/CN2022/082806
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English (en)
French (fr)
Inventor
马宁
黄
陈颖
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2022/082806 priority Critical patent/WO2023178609A1/zh
Publication of WO2023178609A1 publication Critical patent/WO2023178609A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
    • H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
    • H04L1/18—Automatic repetition systems, e.g. Van Duuren systems

Definitions

  • This application relates to the field of communication technology, and in particular to image processing methods, systems, terminals and storage media.
  • the movable platform (such as a drone) may include an imaging device that collects images, and the movable platform may send the image to multiple terminals (such as a remote control and a head-mounted display device of the movable platform) in the form of wireless transmission. image.
  • the terminal since wireless transmission is affected by transmission distance, environmental interference and other factors, the terminal is prone to receive incorrect image data or cannot receive image data.
  • the current transmission strategy is that as long as a terminal receives incorrect image data or cannot receive image data, the terminal will send a retransmission instruction to the mobile platform, and the mobile platform will respond to the retransmission instruction and transfer the The terminal receives an erroneous image or the frame of the image that was not received is retransmitted.
  • This image transmission strategy will lead to a large number of retransmissions when transmitting images to multiple terminals, and the image transmission efficiency is not high. Therefore, how to reduce the number of retransmissions of image data to improve image transmission efficiency when a mobile platform sends image data to multiple terminals is an urgent problem that needs to be solved.
  • Embodiments of the present invention provide image processing methods, systems, terminals and storage media, which can reduce the number of retransmissions of image data when a mobile platform sends image data to multiple terminals, thereby improving image transmission efficiency.
  • a first aspect of an embodiment of the present invention is to provide an image processing method, which includes: a first terminal establishing a first wireless communication connection with a movable platform, a second terminal establishing a second wireless communication connection with the movable platform, and the The first terminal and the second terminal establish a third communication connection, and the movable platform includes an imaging device that collects images:
  • the first terminal and the second terminal respectively receive image frames sent by the movable platform through the first wireless communication connection and the second wireless communication connection, wherein the image frames are the imaging device collected;
  • the first terminal determines that the target image frame sent by the movable platform has not been correctly received, send the identification information of the target image frame to the second terminal through the third communication connection;
  • the second terminal determines the received target image frame from the image frames received by the movable platform according to the identification information
  • the first terminal performs an image restoration operation to obtain a correctly received target image frame, wherein the correctly received target image frame obtained through the image restoration operation is based on a target image received by the second terminal frame obtained.
  • the second aspect of the embodiment of the present invention is to provide an image processing system.
  • the image processing system includes a first terminal, a second terminal and a movable platform.
  • the first terminal establishes a first wireless communication with the movable platform. Connection, the second terminal establishes a second wireless communication connection with the movable platform, the first terminal establishes a third communication connection with the second terminal, the movable platform includes an imaging device for collecting images;
  • the first terminal and the second terminal are respectively configured to receive image frames sent by the movable platform through the first wireless communication connection and the second wireless communication connection, wherein the image frames are Collected by the imaging device of the mobile platform;
  • the first terminal is further configured to send identification information of the target image frame to the second terminal through the third communication connection when it is determined that the target image frame sent by the movable platform has not been correctly received;
  • the second terminal is further configured to determine the received target image frame from the image frames received by the movable platform according to the identification information;
  • the first terminal is further configured to perform an image restoration operation to obtain a correctly received target image frame, wherein the correctly received target image frame obtained through the image restoration operation is received according to the second terminal The target image frame is obtained.
  • the third aspect of the embodiment of the present invention is to provide a terminal, including a memory and a processor;
  • the memory is used to store computer programs
  • the processor calls the computer program and is configured to: receive image frames sent by the movable platform through the first wireless communication connection, where the image frames are collected by the imaging device in the movable platform;
  • the identification information of the target image frame is sent to the second terminal through the third communication connection, so that the second terminal obtains the identification information from the target image frame based on the identification information.
  • An image restoration operation is performed to obtain a correctly received target image frame, wherein the correctly received target image frame obtained through the image restoration operation is obtained according to the target image frame received by the second terminal.
  • the fourth aspect of the embodiment of the present invention is to provide a terminal, including a memory and a processor;
  • the memory is used to store computer programs
  • the processor calls the computer program and is configured to: receive image frames sent by the movable platform through the second wireless communication connection, where the image frames are collected by the imaging device in the movable platform;
  • a fifth aspect of the embodiments of the present invention is to provide a computer-readable storage medium, in which a computer program or instructions are stored, and the computer program or instructions are used to control the first terminal to execute the above-mentioned Image processing methods.
  • a sixth aspect of the embodiments of the present invention is to provide a computer-readable storage medium in which a computer program or instructions are stored, and the computer program or instructions are used to control the second terminal to execute the above-mentioned Image processing methods.
  • the seventh aspect of the embodiments of the present invention is to provide a computer-readable storage medium.
  • Computer programs or instructions are stored in the readable storage medium.
  • the computer programs or instructions are used to control the movable platform to execute the above-mentioned Image processing methods.
  • the embodiment of the present invention establishes a third communication connection between the first terminal and the second terminal, so that when the first terminal fails to correctly receive the target image frame sent by the movable platform, it can send identification information to the second terminal; After the second terminal determines the received target image frame based on the identification information, the first terminal can perform an image restoration operation based on the target image frame received by the second terminal to obtain the correctly received target image frame, so that the current When the terminal does not correctly receive the target image frame sent by the movable platform, it can perform an image recovery operation through the target image frame received by other terminals to obtain the correctly received target image frame.
  • the terminal can obtain the correctly received target image frame without sending a retransmission instruction to the movable platform, thereby reducing the number of times the movable platform retransmits the target image frame, thereby improving the image quality of the movable platform. transmission efficiency.
  • Figure 1 is a schematic architectural diagram of an image processing system provided by an embodiment of the present invention.
  • Figure 2 is a flow chart of an image processing method provided by an embodiment of the present invention.
  • Figure 3 is a schematic diagram of an image restoration operation provided by an embodiment of the present invention.
  • Figure 4 is a flow chart of another image processing method provided by an embodiment of the present invention.
  • Figure 5 is a flow chart of another image processing method provided by an embodiment of the present invention.
  • Figure 6 is a flow chart of yet another image processing method provided by an embodiment of the present invention.
  • Figure 7 is a schematic structural diagram of a terminal provided by an embodiment of the present invention.
  • Embodiments of the present invention provide an image processing system.
  • the image processing system includes a first terminal, a second terminal and a movable platform.
  • the first terminal establishes a first wireless communication connection with the movable platform
  • the second terminal establishes a first wireless communication connection with the movable platform.
  • the first terminal and the second terminal establish a third communication connection.
  • the first terminal may be an electronic device containing a display device, such as a wearable display device, a computer or a smartphone, etc.
  • the wearable display device may specifically be a head-mounted display device, such as a First Person View (FPV) ) glasses; the second terminal can be a control device with a remote control function, such as a remote control; the movable platform includes an imaging device for collecting images, which can be a movable drone, a driverless car, a handheld electronic device, etc. Electronic equipment.
  • FMV First Person View
  • the movable platform includes an imaging device for collecting images, which can be a movable drone, a driverless car, a handheld electronic device, etc. Electronic equipment.
  • FIG. 1 is a schematic architectural diagram of an image processing system provided by an embodiment of the present application.
  • 101 represents the first terminal, which is the FPV glasses in Figure 1;
  • 102 represents the second terminal, which is the remote control (RC) in Figure 1;
  • 103 represents the movable platform, which is the unmanned aircraft in Figure 1 ( Unmanned Aerial Vehicle (UAV).
  • a first wireless communication connection is established between the FPV glasses 101 and the drone 103, a second wireless communication connection is established between the remote controller 102 and the drone 103, and a third wireless communication connection is established between the FPV glasses 101 and the remote controller 102.
  • the third communication connection may be a wired communication connection or a wireless communication connection, which is not limited here.
  • the FPV glasses 101 and the remote control 102 receive image frames sent by the unmanned aircraft 103 through the first wireless communication connection and the second wireless communication connection respectively, where the image frames are imaging in the unmanned aircraft 103 collected by the device; then, when the FPV glasses 101 determine that the target image frame sent by the drone 103 has not been correctly received, the identification information of the target image frame is sent to the remote controller 102 through the third communication connection; and then the remote controller 102 uses the identification information to The received target image frame is determined from the image frame received by the drone 103, and the remote controller 102 sends the received target image frame to the FPV glasses 101; finally, the FPV glasses 101 perform an image recovery operation to obtain correct reception The target image frame, wherein the correctly received target image frame obtained through the image restoration operation is obtained according to the target image frame received by the remote controller 102 .
  • FIG. 2 Based on the architectural schematic diagram of the image processing system provided in Figure 1, a schematic flow chart of an image processing method provided by an embodiment of the present invention is shown in Figure 2.
  • the first terminal establishes a first wireless communication connection with the movable platform.
  • the second terminal establishes a second wireless communication connection with the movable platform, and the first terminal and the second terminal establish a third communication connection.
  • the movable platform includes an imaging device for collecting images.
  • Figure 2 specifically includes steps S201 to S202:
  • the first terminal receives the image frame sent by the movable platform through the first wireless communication connection.
  • the second terminal receives the image frame sent by the movable platform through the second wireless communication connection.
  • the image frame refers to an image frame collected by the movable platform through the imaging device, wherein the image frame may be an image collected by the movable platform through the imaging device in real time, or it may be a movable platform Images or videos taken in advance are not limited here.
  • the first wireless communication connection and the second communication connection can be implemented through various methods such as time division multiple access, code division multiple access, frequency division multiple access, orthogonal frequency division multiple access, etc. to realize the connection between the mobile platform and the mobile platform.
  • the communication between the first terminal and the second terminal can also be achieved through broadcast communication, which is not limited here.
  • the first terminal determines that the target image frame sent by the movable platform has not been correctly received.
  • the failure to correctly receive the target image frame sent by the movable platform may be an image frame sent by the movable platform to the first terminal but not received by the first terminal, or it may be caused by the first terminal sending the image frame from the movable platform to the first terminal.
  • the removable platform received the image frame with a reception error.
  • the way for the first terminal to determine that the target image frame sent by the movable platform has not been correctly received is to first demodulate the signal of the received image frame to obtain the demodulated image frame. data, and then verify the image frames received from the movable platform through parity check, cyclic redundancy check (CRC) and other verification methods, thereby determining that the target image sent by the movable platform has not been correctly received. frame.
  • CRC cyclic redundancy check
  • the first terminal sends the identification information of the target image frame to the second terminal through the third communication connection.
  • the third communication connection may be a wired communication connection or a wireless communication connection.
  • the identification information of the target image frame may be the sequence position information of the target image frame in the image sequence. For example, there are 10 frames of images in the image sequence sent by the movable platform, and the target image frame is the second image in the image sequence. frame image, then the sequence position information of the target image frame is 2.
  • the identification information of the target image frame may also be the identification information of the data packet containing the target image frame, which is not limited here.
  • the second terminal determines the received target image frame from the image frames received by the movable platform according to the identification information.
  • the method of determining the received target image frame from the image frames received from the movable platform based on the identification information may be that the second terminal parses the identification information to obtain the parsed identification. information, and then determine the target image frame indicated by the parsed identification information.
  • the method of determining the received target image frame from the image frames received from the movable platform based on the identification information may also be to search for an image frame matching the identification information among multiple image frames received from the movable platform, Then the matching image frame is determined to be the target image frame.
  • the received target image frame can also be determined in other ways, which is not limited here.
  • the received target image frame is a target image frame with no reception error.
  • the second terminal may further determine whether there is a reception error in the received target image frame.
  • step S206 is directly executed. If the second terminal determines that there is no reception error in the received target image frame, step S206 is directly executed. If the second terminal determines that there is a reception error in the received target image frame, the second terminal may send a retransmission indication of the target image frame to the movable platform through the second wireless communication connection, and then the movable platform responds to the retransmission indication, The target image frame is sent again to the second terminal, and finally the second terminal sends the target image frame received again from the movable platform to the first terminal through the third communication connection.
  • the retransmission indication of the target image frame sent by the second terminal to the movable platform through the second wireless communication connection may include the terminal identification information of the first terminal, and then the movable platform may directly send the retransmission indication to the movable platform when responding to the retransmission indication.
  • the first terminal indicated by the terminal identification information sends the target image frame again.
  • the movable platform can also respond to the retransmission instruction and send the target image frame to the first terminal and the second terminal at the same time, which is not limited here.
  • the second terminal can also send the target image frame recovery error information to the first terminal through the third communication connection, and then the first terminal will respond to the target image frame.
  • the image frame recovers the error information, and sends a retransmission instruction of the target image frame to the movable platform through the first wireless communication connection.
  • the movable platform responds to the retransmission instruction and sends the target image frame to the first terminal again.
  • the target image frame recovery error information is used to instruct the first terminal to send a retransmission instruction of the target image frame to the movable platform.
  • the movable platform sends the target image frame in response to the retransmission instruction, since the data amount of the target image frame will be less than or equal to the image frame previously sent by the movable platform, the channel bandwidth will have less control over the code rate of the image data, so the target The transmission quality of image frames will be better, and the greater the possibility that the terminal will correctly receive the target image frame.
  • the movable platform does not need to send the target image frame to the first terminal and the second terminal at the same time, but only needs to choose to send the target image frame to a terminal with a larger channel bandwidth, so that the transmission quality of the target image frame is relatively better.
  • the terminal with a larger channel bandwidth sends the correctly received target image frame to other terminals through the third communication connection.
  • the second terminal sends the received target image frame to the first terminal through the third communication connection.
  • the second terminal sends the received target image frame to the first terminal through the third communication connection, which may be at the physical layer, data link layer, network layer or application layer through the third communication connection. Send the target image frame to the first terminal.
  • the first terminal performs an image recovery operation to obtain the correctly received target image frame.
  • the correctly received target image frame obtained through the image restoration operation is obtained based on the target image frame received by the second terminal.
  • the image restoration operation may specifically be: the first terminal responds to the image restoration operation and directly determines the target image frame received by the second terminal as a correctly received target image frame; or the first terminal responds to the image restoration operation and directly determines the target image frame received by the first terminal.
  • the incorrectly received target image frame sent by the movable platform is replaced with the received target image frame, thereby obtaining a correctly received target image frame.
  • Figure 3 shows a schematic diagram of an image recovery operation.
  • the first terminal and the second terminal receive an image sequence sent by the movable platform, wherein the first terminal receives an image sequence in the image sequence.
  • the first terminal determines that the third frame image is the target image frame sent by the movable platform that has not been correctly received, and sends the identification information A of the third frame image to the second terminal through the third communication connection;
  • the first terminal since the first terminal did not receive the 8th frame image in the image sequence, the first terminal determined that the 8th frame image was the target image frame sent by the movable platform that was not correctly received, and sent it to the second terminal through the third communication connection.
  • Identification information B of the 8th frame image is the image sequence sent by the movable platform, wherein the first terminal receives an image sequence in the image sequence.
  • the second terminal determines the third frame image 303 and the eighth frame image 304 received by the second terminal from the image frames received by the second terminal from the movable platform according to the identification information A and the identification information B, and passes The third communication connection is transmitted to the first terminal.
  • the first terminal performs an image restoration operation, that is, replacing the third frame image 301 and the eighth frame image 302 in the original image sequence with the image 303 and image 304 received from the second terminal, thereby obtaining the correctly received images in the image sequence.
  • the 3rd frame image and the 8th frame image is, replacing the third frame image 301 and the eighth frame image 302 in the original image sequence with the image 303 and image 304 received from the second terminal, thereby obtaining the correctly received images in the image sequence.
  • the second terminal when the second terminal receives the identification information A sent by the first terminal through the third communication connection, it can immediately determine the second terminal based on the identification information A in the image frame received by the second terminal from the movable platform.
  • the third frame of image 303 is received and transmitted to the first terminal through the third communication connection; finally, the first terminal performs an image restoration operation, that is, replaces the image 301 with the image 303 received from the second terminal, thereby obtaining Correctly received frame 3 of the image sequence.
  • the second terminal performs the same process when receiving the identification information B, which will not be described again here.
  • the first terminal after the first terminal receives the entire image sequence, it can also be determined whether there is an incorrectly received target image frame in the entire image sequence; then, the first terminal sends the target image to the second terminal through the third communication connection.
  • the identification information of the frame so that the second terminal determines the target image frame received by the second terminal from the image frame received by the second terminal from the movable platform according to the identification information, and transmits it to the first terminal through the third communication connection ; Finally, the first terminal performs the image recovery operation.
  • the first terminal and the second terminal receive the image frame sent by the movable platform through the first wireless communication connection and the second wireless communication connection respectively; when the first terminal does not correctly receive the image frame sent by the movable platform, When the target image frame is received, the first terminal can send the identification information of the target image frame to the second terminal through the third communication connection, so that the second terminal can determine the received target from the image frame received by the movable platform according to the identification information.
  • the first terminal to perform an image recovery operation to obtain a correctly received target image frame; that is, when either the first terminal or the second terminal appears in any terminal that is not receiving a target sent by the movable platform
  • the same and correctly received image frame as the target image frame can be obtained from the other terminal through the third communication connection between the two terminals, so that the terminal no longer needs to re-send the target image frame to the movable platform.
  • the correctly received target image frame can be obtained, thereby reducing the number of times the movable platform retransmits the target image frame, thereby improving the image transmission efficiency of the movable platform.
  • FIG 4 a schematic flow chart of an image processing method provided by an embodiment of the present invention is shown in Figure 4.
  • the first terminal establishes a first wireless communication connection with the movable platform.
  • the second terminal establishes a second wireless communication connection with the movable platform, and the first terminal and the second terminal establish a third communication connection.
  • the movable platform includes an imaging device for collecting images.
  • Figure 4 specifically includes steps S401 to S404:
  • the first terminal receives the image frame sent by the movable platform through the first wireless communication connection.
  • the second terminal receives the image frame sent by the movable platform through the second wireless communication connection.
  • the first terminal determines that the target image frame sent by the movable platform has not been correctly received.
  • the first terminal sends the identification information of the target image frame to the second terminal through the third communication connection.
  • the second terminal determines the received target image frame from the image frames received by the movable platform according to the identification information.
  • steps S401 to S405 please refer to the specific implementation of steps S201 to S205, which will not be described again here.
  • the second terminal determines that there is a reception error in the target image frame received from the movable platform, the second terminal fuses the target image frame received from the movable platform and the target image frame received from the first terminal to obtain the fusion The target image frame after.
  • the method of fusing the target image frame received from the movable platform and the target image frame received from the first terminal to obtain the fused target image frame may be: fusing the target image frame received from the movable platform.
  • the target image frame received by the mobile platform and the target image frame received from the first terminal undergo soft bit merging at the physical layer, and the soft bit combined target image frame is used as the fused target image frame.
  • the first terminal can demodulate the target image frame to obtain the first soft bit information (log normal ratio) after demodulation of the target image frame. , LLR), and sends the first soft bit information to the second terminal; when the second terminal determines that there is a reception error in the target image frame received by the second terminal from the movable platform, the target image frame can be demodulated, Obtain the second soft bit information after demodulation of the target image frame; then the second terminal soft bit combines the first soft bit information and the second soft bit information to obtain the third soft bit information, and the third soft bit information is used Information indicating the fused target image frame.
  • LLR log normal ratio
  • soft bit merging methods can also be used depending on the encoding method, such as Turbo code (a concatenated code), Polar code (polar code), etc., or depending on the decoding requirements.
  • soft bit combining methods such as maximum ratio combining, log-likelihood ratio weighted combining, distance level combining, etc. may be used, which are not limited here.
  • the method of fusing the target image frame received from the movable platform and the target image frame received from the first terminal to obtain the fused target image frame may also be: First, image preprocessing is performed on the target image frame received from the movable platform and the target image frame received from the first terminal, where the preprocessing may include denoising, grayscale, etc.; then, the target image frame received from the movable platform is The pixel values of each pixel point of the target image frame are correspondingly fused with the pixel values of each pixel point of the target image frame received from the first terminal, thereby obtaining a fused target image frame.
  • the fusion method can be logical filtering method, mathematical morphological method, pyramid image fusion method, wavelet transform image fusion method, multi-scale decomposition method, etc., which are common technical methods used by those skilled in the art and will not be described in detail here.
  • the target image frame received from the movable platform and the target image frame received from the first terminal may also be fused based on image separation technology to obtain the fused target image frame.
  • image separation technology mainly analyzes signals and images by using their components, including principal component analysis, secondary component analysis, state component analysis, etc., and then based on certain assumptions, based on the known signal, image And under the analysis information, extract or recover the source signal from the obtained mixed signal, that is, it is possible to recover the correctly received target image frame based on the target image frame received from the movable platform and the target image frame received from the first terminal.
  • target image frame is a common technical method used by those skilled in the art and will not be described in detail here.
  • the fused target image frame can also be obtained through other fusion methods, which is not limited here.
  • the first terminal and the second terminal respectively receive the broadcast image data sent by the movable platform
  • the wireless communication connections between the first terminal and the movable platform, and the second terminal and the movable platform are different, the same broadcast image data
  • it will experience different fading, occlusion and interference, etc., resulting in the quality of the broadcast image data received by the first terminal and the second terminal being different, so that all terminals may receive it.
  • Correct only one terminal receives correctly or all terminals receive incorrectly. In other words, regardless of whether the terminals receive all the data correctly, the quality of the image frame data received by each terminal will be affected to a certain extent.
  • the reception gain can be increased, that is, better quality can be obtained. image frame data.
  • the second terminal can directly combine the target image frame received by the second terminal from the movable platform and the target image received from the first terminal. Frames are fused to obtain the fused target image frame.
  • the second terminal determines whether the fused target image frame can be correctly parsed; if the fused target image frame can be correctly parsed, step S408 is executed.
  • the way for the second terminal to determine whether the fused target image frame can be correctly parsed may be that the second terminal demodulates the soft bit information of the fused target image frame. If it can be successfully Demodulation means that the fused target image frame can be correctly parsed. If it cannot be demodulated successfully, it means that the fused target image frame cannot be correctly parsed.
  • the second terminal can send a retransmission instruction of the target image frame to the movable platform, so that the movable platform can connect through the first wireless communication and/or the second wireless communication connection sends the target image frame to the first terminal and/or the second terminal.
  • the second terminal sends the fused target image frame to the first terminal through the third communication connection.
  • step S408 please refer to the specific implementation of step S206, which will not be described again here.
  • the first terminal performs an image recovery operation to obtain the correctly received target image frame.
  • the correctly received target image frame obtained through the image restoration operation is based on fusing the target image frame received by the second terminal from the movable platform and the target image frame received from the first terminal. After that, the obtained fused target image frame is obtained.
  • the way in which the first terminal performs the image restoration operation may be: the first terminal responds to the image restoration operation and directly determines the fused target image frame as a correctly received target image frame; or the first terminal responds to the image restoration operation. Operation: replace the target image frame sent by the first terminal that has not been correctly received by the movable platform with the fused target image frame, thereby obtaining a correctly received target image frame.
  • the first terminal sends both the target image frame and the identification information of the target image frame to the second terminal, so that the second terminal determines the received target in the image frame received from the movable platform according to the identification information.
  • image frame and after determining that there is a reception error in the target image frame received from the movable platform, fuse the target image frame received from the movable platform and the target image frame received from the first terminal to obtain the fusion
  • the fused target image frame if the fused target image frame can be correctly parsed, the fused target image frame is sent to the first terminal through the third communication connection, and finally the first terminal can perform execution based on the fused target image frame Image recovery operation to obtain correctly received target image frames.
  • the target image frame received from the movable platform and the target image frame received from the first terminal can be processed. Fusion, if the fused target image frame can be correctly parsed, it will be helpful for the first terminal to obtain the correctly received target image frame, and the terminal does not need to send a retransmission instruction of the target image frame to the movable platform to obtain the correctly received target image frame.
  • Target image frame thereby reducing the number of times the movable platform retransmits the target image frame, thereby improving the image transmission efficiency of the movable platform.
  • Figure 5 Based on the architectural schematic diagram of the image processing system provided in Figure 1, a schematic flow chart of an image processing method provided by an embodiment of the present invention is shown in Figure 5.
  • the first terminal establishes a first wireless communication connection with the movable platform.
  • the second terminal establishes a second wireless communication connection with the movable platform, and the first terminal and the second terminal establish a third communication connection.
  • the movable platform includes an imaging device for collecting images.
  • Figure 5 specifically includes steps S501 to S508:
  • the first terminal receives the image frame sent by the movable platform through the first wireless communication connection.
  • the second terminal receives the image frame sent by the movable platform through the second wireless communication connection.
  • the first terminal determines that the target image frame sent by the movable platform has not been correctly received.
  • the first terminal sends the identification information of the target image frame to the second terminal through the third communication connection.
  • the second terminal determines the received target image frame from the image frames received by the movable platform according to the identification information.
  • the second terminal sends the received target image frame to the first terminal through the third communication connection.
  • steps S501 to S506 please refer to the specific implementation of steps S201 to S206, which will not be described again here.
  • step S507. The first terminal determines whether there is a reception error in the target image frame received from the second terminal. If there is no reception error, step S508 is executed.
  • the first terminal can send a retransmission of the target image frame to the movable platform through the first wireless communication connection. Instruct, so that the movable platform responds to the retransmission instruction of the target image frame and sends the target image frame to the first terminal and/or the second terminal through the first wireless communication connection and/or the second wireless communication connection.
  • the first terminal can also send the target image frame recovery error information to the second terminal through the third communication connection; and then the second terminal
  • the terminal may send a retransmission instruction of the target image frame to the movable platform through the second wireless communication connection, so that the movable platform responds to the retransmission instruction of the target image frame by sending the retransmission instruction to the movable platform through the first wireless communication connection and/or the second wireless communication connection.
  • the first terminal and/or the second terminal send the target image frame.
  • step S507 For the specific implementation of the retransmission instruction and target image frame recovery error information in step S507, please refer to the specific implementation of the retransmission instruction and target image frame recovery error information in step S204, which will not be described again here.
  • the first terminal performs an image recovery operation to obtain the correctly received target image frame.
  • the correctly received target image frame obtained through the image restoration operation is obtained based on the target image frame received by the second terminal.
  • the correctly received target image frame obtained through the image recovery operation is based on the first terminal's determination that the second terminal received the
  • the movable platform responds to the retransmission instruction and sends the retransmission instruction to the first terminal through the first wireless communication connection.
  • the target image frame is obtained.
  • the way in which the first terminal performs the image restoration operation may be: in response to the image restoration operation, the first terminal directly determines the target image frame received again by the first terminal from the movable platform as the correctly received target image frame; Or the first terminal responds to the image recovery operation by replacing the target image frame that the first terminal did not correctly receive from the movable platform with the target image frame that the first terminal received again from the movable platform, thereby obtaining a correctly received target image frame.
  • the first terminal after the first terminal receives the target image frame sent by the movable platform in response to the retransmission instruction through the first wireless communication connection, it can also determine whether there is a reception error in the target image frame received again by the first terminal from the movable platform. , if there is no reception error, the first terminal performs an image recovery operation to obtain a correctly received target image frame.
  • the first terminal may send a retransmission instruction of the target image frame to the movable platform through the first wireless communication connection again, or the first terminal may send the target image frame to the second terminal through the third communication connection again to recover the error.
  • the second terminal can send a retransmission instruction of the target image frame to the mobile platform through the second wireless communication connection; the first terminal again receives through the first wireless communication connection the retransmission instruction sent by the mobile platform in response to the retransmission instruction.
  • the target image frame continue to determine whether there is a reception error in the target image frame received again by the first terminal from the movable platform, until there is no reception error in the target image frame received by the first terminal from the movable platform.
  • FIG. 6 a schematic flow chart of an image processing method provided by an embodiment of the present invention is shown in Figure 6.
  • the first terminal establishes a first wireless communication connection with the movable platform.
  • the second terminal establishes a second wireless communication connection with the movable platform, and the first terminal and the second terminal establish a third communication connection.
  • the movable platform includes an imaging device for collecting images.
  • Figure 6 specifically includes steps S601 to S609:
  • the first terminal receives the image frame sent by the movable platform through the first wireless communication connection.
  • the second terminal receives the image frame sent by the movable platform through the second wireless communication connection.
  • the first terminal determines that the target image frame sent by the movable platform has not been correctly received.
  • the first terminal sends the identification information of the target image frame to the second terminal through the third communication connection.
  • the second terminal determines the received target image frame from the image frames received by the movable platform according to the identification information.
  • the second terminal sends the received target image frame to the first terminal through the third communication connection.
  • steps S601 to S606 please refer to the specific implementation of steps S201 to S206, which will not be described again here.
  • the first terminal determines that there is a reception error in the target image frame received from the second terminal, the first terminal fuses the target image frame received by the first terminal from the movable platform and the target image frame received from the second terminal. To obtain the fused target image frame.
  • step S608 The first terminal determines whether the fused target image frame can be correctly parsed? If the fused target image frame can be correctly parsed, step S609 is executed.
  • steps S607 to S608 please refer to the specific implementation of steps S406 to S407, which will not be described again here.
  • the first terminal performs an image recovery operation to obtain the correctly received target image frame.
  • step S609 For the specific implementation of step S609, please refer to the specific implementation of step S409, which will not be described again here.
  • FIG 7 is a schematic structural diagram of a terminal provided by an embodiment of the present application.
  • the terminal 70 described in the embodiment of this application includes: a processor 701, a memory 702, and a communication interface 703.
  • the above-mentioned processor 701, memory 702 and communication interface 703 are connected through one or more communication buses.
  • the memory 702 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 702 may also include non-volatile memory (non-volatile memory), such as flash memory (flash). memory), solid-state drive (SSD), etc.; the memory 702 may also include a combination of the above types of memory.
  • volatile memory volatile memory
  • non-volatile memory non-volatile memory
  • flash memory flash memory
  • SSD solid-state drive
  • the processor 701 may be a central processing unit (CPU).
  • the processor 701 may further include a hardware chip.
  • the above-mentioned hardware chips can be application-specific integrated circuits (ASICs), programmable logic devices (programmable logic devices, PLDs), etc.
  • the above-mentioned PLD can be a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL), etc.
  • the terminal described in the embodiment of the present application uses the processor 701, the memory 702, and the communication interface 703 to implement the methods implemented by the various embodiments of the present application shown in the above-mentioned Figures 2, 4, 5, and 6.
  • the various embodiments of the present application shown in FIG. 2, FIG. 4, FIG. 5, and FIG. 6.
  • the computer program is stored in the memory 702, and the processor 701 calls the computer program in the memory 702.
  • the processor 701 is used to execute:
  • the identification information of the target image frame is sent to the second terminal through the third communication connection, so that the second terminal obtains the identification information from the image frame received by the movable platform according to the identification information. Determine the received target image frame;
  • An image restoration operation is performed to obtain a correctly received target image frame, wherein the correctly received target image frame obtained through the image restoration operation is obtained according to the target image frame received by the second terminal.
  • the processor 701 is further configured to: receive the received target image frame sent by the second terminal through the third wireless communication connection;
  • the processor 701 is further configured to: when determining that there is a reception error in the target image frame received from the second terminal, send a retransmission instruction of the target image frame to the movable platform through the first wireless communication connection; or ,
  • the wireless communication connection sends a retransmission indication of the target image frame to the mobile platform.
  • the processor 701 is further configured to: when determining that there is a reception error in the target image frame received from the second terminal, combine the target image frame received from the movable platform and the target image frame with the reception error from the second terminal.
  • the target image frames received by the terminal are fused to obtain the fused target image frame, and it is determined whether the fused target image frame can be correctly parsed. If it can be correctly parsed, it is determined that the correctly received target image frame is obtained.
  • the processor 701 is also configured to: when determining that the fused target image frame is parsed incorrectly, send a retransmission indication of the target image frame to the movable platform through the first wireless communication connection; or,
  • the target image frame recovery error information is sent to the second terminal through the third communication connection, so that the second terminal responds to the target image frame recovery error information and sends the target image frame recovery error information to the second terminal through the second wireless communication connection.
  • the mobile platform sends a retransmission indication of the target image frame.
  • the processor 701 is further configured to: send the received target image frame with a reception error to the second terminal through the third communication connection, so that the second terminal determines the target received from the movable platform.
  • the target image frame received from the movable platform and the target image frame received from the first terminal are fused to obtain the fused target image frame;
  • the second terminal determines that the fused target image frame can be correctly parsed, it receives the fused target image frame sent by the second terminal through the third communication connection.
  • the terminal includes a display device, wherein the terminal displays the image frame through the display device.
  • the terminal is a head-mounted display device.
  • the embodiment of the present invention establishes a third communication connection between the first terminal and the second terminal, so that when the first terminal fails to correctly receive the target image frame sent by the movable platform, it can send identification information to the second terminal; After the second terminal determines the received target image frame based on the identification information, the first terminal can perform an image restoration operation based on the target image frame received by the second terminal to obtain the correctly received target image frame, so that the current When the terminal does not correctly receive the target image frame sent by the movable platform, it can perform an image recovery operation through the target image frame received by other terminals to obtain the correctly received target image frame.
  • the terminal can obtain the correctly received target image frame without sending a retransmission instruction to the movable platform, thereby reducing the number of times the movable platform retransmits the target image frame, thereby improving the image quality of the movable platform. transmission efficiency.
  • 777 processor 701 is configured to perform:
  • the receiving first terminal determines that the target image frame sent by the movable platform has not been correctly received, send the identification information of the target image frame through the third communication connection;
  • the received target image frame is determined from the image frames received by the movable platform according to the identification information, and the received target image frame is sent to the first terminal through the third communication connection, so that the first terminal performs an image restoration operation to obtain The correctly received target image frame, wherein the correctly received target image frame obtained through the image restoration operation is obtained according to the received target image frame.
  • the processor 701 is further configured to: determine whether there is a reception error in the received target image frame, and when it is determined that there is no reception error, send the received target image frame to the first terminal through the third communication connection. .
  • the processor 701 is also configured to: when it is determined that the received target image frame has a reception error, send a retransmission indication of the target image frame to the movable platform through the second wireless communication connection; or,
  • the processor 701 is further configured to: receive a target image frame with a reception error that is received by the first terminal and sent by the first terminal through the third communication connection;
  • the target image frame received from the movable platform and the target image frame received from the first terminal are fused to obtain a fused target image frame , determine whether the fused target image frame can be correctly parsed, and if it can be correctly parsed, send the fused target image frame to the first terminal through the third communication connection.
  • the processor 701 is also configured to: when determining that the fused target image frame is parsed incorrectly, send a retransmission indication of the target image frame to the movable platform through the second wireless communication connection; or,
  • the target image frame recovery error information is sent to the first terminal through the third communication connection, so that the first terminal responds to the target image frame recovery error information and sends the target image frame recovery error information to the first terminal through the first wireless communication connection.
  • the mobile platform sends a retransmission indication of the target image frame.
  • the terminal includes a remote control device.
  • the embodiment of the present invention establishes a third communication connection between the first terminal and the second terminal, so that when the first terminal fails to correctly receive the target image frame sent by the movable platform, it can send identification information to the second terminal; After the second terminal determines the received target image frame based on the identification information, the first terminal can perform an image restoration operation based on the target image frame received by the second terminal to obtain the correctly received target image frame, so that the current When the terminal does not correctly receive the target image frame sent by the movable platform, it can perform an image recovery operation through the target image frame received by other terminals to obtain the correctly received target image frame.
  • the terminal can obtain the correctly received target image frame without sending a retransmission instruction to the movable platform, thereby reducing the number of times the movable platform retransmits the target image frame, thereby improving the image quality of the movable platform. transmission efficiency.
  • the image processing method provided by the present invention is not limited to the scenario where the movable platform needs to send image data to two terminals; it can also be applied to the scenario where the movable platform needs to send images to two or more terminals.
  • the data scenarios are not limited here.
  • a communication connection can be established between each terminal in a plurality of terminals. If any terminal determines that it has not correctly received the target image frame sent by the movable platform, any terminal can be used to communicate with any one of the plurality of terminals.
  • the communication connection between other terminals other than the terminal sends the identification information of the target image frame to other terminals except any terminal among the plurality of terminals, and then the other terminals among the plurality of terminals except any terminal send the identification information according to the
  • the identification information determines the received target image frame from the image frames received by the movable platform, and sends the received target image frame to the any terminal.
  • the any terminal performs an image restoration operation to obtain Correctly received target image frames, wherein the correctly received target image frames obtained through the image restoration operation are obtained based on target image frames received by other terminals except any terminal among the plurality of terminals.
  • the disclosed devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute the methods described in various embodiments of the present invention. Some steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .

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Abstract

本发明实施例提供一种图像处理方法、系统、终端及存储介质，其中该方法包括：在第一终端和第二终端之间建立第三通信连接，以使得当第一终端存在未正确接收可移动平台发送的目标图像帧时，可以向第二终端发送标识信息，以及在第二终端根据标识信息确定接收到的目标图像帧后，第一终端可以根据第二终端接收到的目标图像帧去执行图像恢复操作，以获取正确接收的目标图像帧。本发明实施例能够实现在可移动平台向多个终端发送图像数据时，减少图像数据的重传次数，以提高图像传输效率。

Description

图像处理方法、系统、终端及存储介质 技术领域
本申请涉及通信技术领域，尤其涉及图像处理方法、系统、终端及存储介质。
背景技术
可移动平台(例如无人驾驶飞机)可以包括采集图像的成像装置，可移动平台可以以无线传输的形式向多个终端(例如可移动平台的遥控器和头戴式显示装置)端发送所述图像。然而，由于无线传输受传输距离、环境干扰等因素的影响，终端容易接收到错误的图像数据或者接收不到图像数据。然而，目前的传输策略是，只要有一个终端收到错误的图像数据或者接收不到图像数据，该终端就会向可移动平台发送重传指令，可移动平台会响应该重传指示，将该终端接收到的存在错误的图像或者没有接收到的那帧图像重传，这种图像传输的策略会导致在向多个终端传输图像时的重传次数较多，图像传输效率不高。因此，如何在可移动平台向多个终端发送图像数据时，减少图像数据的重传次数，以提高图像传输效率，是亟需解决的问题。
发明内容
本发明实施例提供图像处理方法、系统、终端及存储介质，可实现在可移动平台向多个终端发送图像数据时，减少图像数据的重传次数，以提高图像传输效率。
本发明实施例的第一方面是提供一种图像处理方法，包括：第一终端与可移动平台建立第一无线通信连接，第二终端与所述可移动平台建立第二无线通信连接，所述第一终端和所述第二终端建立第三通信连接，所述可移动平台包括采集图像的成像装置：
所述第一终端和所述第二终端分别通过所述第一无线通信连接和所述第二无线通信连接接收所述可移动平台发送的图像帧，其中，所述图像帧是所述成像装置采集的；
所述第一终端在确定未正确接收所述可移动平台发送的目标图像帧时，通过所述第三通信连接向所述第二终端发送所述目标图像帧的标识信息；
所述第二终端根据所述标识信息从所述可移动平台接收到的图像帧中确定接收到的目标图像帧；
所述第一终端执行图像恢复操作以获取正确接收的目标图像帧，其中，所述通过所述图像恢复操作获取的所述正确接收的目标图像帧是根据所述第二终端接收到的目标图像帧得到的。
本发明实施例的第二方面是提供一种图像处理系统，所述图像处理系统包括第一终端、第二终端以及可移动平台，所述第一终端与所述可移动平台建立第一无线通信连接，所述第二终端与所述可移动平台建立第二无线通信连接，所述第一终端和所述第二终端建立第三通信连接，所述可移动平台包括采集图像的成像装置；
所述第一终端和所述第二终端，分别用于通过所述第一无线通信连接和所述第二无线通信连接接收所述可移动平台发送的图像帧，其中，所述图像帧是可移动平台的成像装置采集的；
所述第一终端，还用于在确定未正确接收所述可移动平台发送的目标图像帧时，通过所述第三通信连接向所述第二终端发送所述目标图像帧的标识信息；
所述第二终端，还用于根据所述标识信息从所述可移动平台接收到的图像帧中确定接收到的目标图像帧；
所述第一终端，还用于执行图像恢复操作以获取正确接收的目标图像帧，其中，所述通过所述图像恢复操作获取的所述正确接收的目标图像帧是根据所述第二终端接收到的目标图像帧得到的。
本发明实施例的第三方面是提供一种终端，包括存储器和处理器；
所述存储器，用于存储计算机程序；
所述处理器，调用所述计算机程序，用于：通过第一无线通信连接接收可移动平台发送的图像帧，所述图像帧是所述可移动平台中的成像装置采集到的；
在确定未正确接收所述可移动平台发送的目标图像帧时，通过第三通信连接向第二终端发送所述目标图像帧的标识信息，以使所述第二终端根据所述标识信息从所述可移动平台接收到的图像帧中确定接收到的目标图像帧；
执行图像恢复操作以获取正确接收的目标图像帧，其中，所述通过所述图像恢复操作获取的所述正确接收的目标图像帧是根据所述第二终端接收到的目标图像帧得到的。
本发明实施例的第四方面是提供一种终端，包括存储器和处理器；
所述存储器，用于存储计算机程序；
所述处理器，调用所述计算机程序，用于：通过第二无线通信连接接收可移动平台发送的图像帧，所述图像帧是所述可移动平台中的成像装置采集到的；
接收第一终端在确定未正确接收所述可移动平台发送的目标图像帧时，通过第三通信连接发送的所述目标图像帧的标识信息；
根据所述标识信息从所述可移动平台接收到的图像帧中确定接收到的目标图像帧，并通过所述第三通信连接向所述第一终端发送所述接收到的目标图像帧，以使所述第一终端执行图像恢复操作以获取正确接收的目标图像帧，其中，所述通过所述图像恢复操作获取的所述正确接收的目标图像帧是根据所述接收到的目标图像帧得到的。
本发明实施例的第五方面是提供一种计算机可读存储介质，所述可读存储介质中存储有计算机程序或指令，所述计算机程序或所述指令用于控制所述第一终端执行上述图像处理方法。
本发明实施例的第六方面是提供一种计算机可读存储介质，所述可读存储介质中存储有计算机程序或指令，所述计算机程序或所述指令用于控制所述第二终端执行上述图像处理方法。
本发明实施例的第七方面是提供一种计算机可读存储介质，所述可读存储介质中存储有计算机程序或指令，所述计算机程序或所述指令用于控制所述可移动平台执行上述图像处理方法。
本发明实施例通过在第一终端和第二终端之间建立第三通信连接，以使得当第一终端存在未正确接收可移动平台发送的目标图像帧时，可以向第二终端发送标识信息；在第二终端根据标识信息确定接收到的目标图像帧后，第一终端可以根据第二终端接收到的目标图像帧去执行图像恢复操作，以获取正确接收的目标图像帧，从而可以做到当终端未正确接收可移动平台发送的目标图像帧时，可以通过其他终端接收到的目标图像帧去执行图像恢复操作，以获取正确接收的目标图像帧。也就是说，终端不用通过向可移动平台发送重传指令的方式就可以获取到正确接收的目标图像帧，从而减少了可移动平台重传目标图像帧的次数，进而提高了可移动平台的图像传输效率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种图像处理系统的架构示意图；
图2是本发明实施例提供的一种图像处理方法的流程图；
图3是本发明实施例提供的一种图像恢复操作的示意图；
图4是本发明实施例提供的另一种图像处理方法的流程图；
图5为本发明实施例提供的又一种图像处理方法的流程图；
图6是本发明实施例提供的又一种图像处理方法的流程图；
图7是本发明实施例提供的一种终端的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本发明实施例提供了一种图像处理系统，图像处理系统包括第一终端、第二终端和可移动平台，第一终端与可移动平台建立第一无线通信连接，第二终端与可移动平台建立第二无线通信连接，第一终端和第二终端建立第三通信连接。其中，第一终端可以是含有显示装置的电子设备，如可穿戴显示装置、计算机或者智能手机等，可穿戴显示装置具体可以为头戴式显示装置，例如第一人称主视角(First Person View，FPV)眼镜；第二终端可以是具有遥控功能的控制装置，如遥控器；可移动平台包括采集图像的成像装置，具体可以是无人驾驶飞机，无人驾驶汽车、手持式电子设备等可移动的电子设备。
示例性的，请参见图1，图1是本申请实施例提供的一种图像处理系统的架构示意图。101表示第一终端，在图1中为FPV眼镜；102表示第二终端，在图1中为遥控器(Remote Control，RC)；103表示可移动平台，在图1中为无人驾驶飞机(Unmanned Aerial Vehicle，UAV)。FPV眼镜101和无人驾驶飞机103之间建立有第一无线通信连接，遥控器102和无人驾驶飞机103之间建立有第二无线通信连接，FPV眼镜101和遥控器102之间建立有第三通信连接。其中，第三通信连接可以是有线通信连接，也可以是无线通信连接，在此不限定。
在一个实施例中，FPV眼镜101和遥控器102分别通过第一无线通信连接和第二无线通信连接接收无人驾驶飞机103发送的图像帧，其中，图像帧是无人驾驶飞机103中的成像装置采集的；然后FPV眼镜101在确定未正确接收无人驾驶飞机103发送的目标图像帧时，通过第三通信连接向遥控器102发送目标图像帧的标识信息；再由遥控器102根据标识信息从 无人驾驶飞机103接收到的图像帧中确定接收到的目标图像帧，并且遥控器102将接收到的目标图像帧发送给FPV眼镜101；最后，FPV眼镜101执行图像恢复操作以获取正确接收的目标图像帧，其中，通过图像恢复操作获取的正确接收的目标图像帧是根据遥控器102接收到的目标图像帧得到的。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
基于图1提供的图像处理系统的架构示意图，本发明实施例提供的一种图像处理方法的流程示意图，请参见图2，图2中第一终端与可移动平台建立第一无线通信连接，第二终端与可移动平台建立第二无线通信连接，第一终端和第二终端建立第三通信连接，可移动平台包括采集图像的成像装置。图2具体包括步骤S201～步骤S202：
S201、第一终端通过第一无线通信连接接收可移动平台发送的图像帧。
S202、第二终端通过第二无线通信连接接收可移动平台发送的图像帧。
在本发明实施例中，所述图像帧指的是可移动平台通过成像装置采集到的图像帧，其中，图像帧可以是可移动平台通过成像装置实时采集到的图像，也可以是可移动平台提前拍摄好的图像或者视频，在此不限定。
在本发明实施例中，所述第一无线通信连接和第二通信连接可以通过时分多址、码分多址、频分多址、正交频分多址等多种方式实现可移动平台与第一终端和第二终端的通信，也可以通过广播通信的方式实现可移动平台与第一终端和第二终端的通信，在此不限定。
S203、第一终端确定未正确接收可移动平台发送的目标图像帧。
在本发明实施例中，所述未正确接收可移动平台发送的目标图像帧可以是可移动平台向第一终端发送了，但第一终端没有接收到的图像帧，也可以是第一终端从可移动平台接收到了，但存在接收错误的图像帧。
在一种可能的实现方式中，所述第一终端确定未正确接收可移动平台发送的目标图像帧的方式可以是先对接收到的图像帧的信号进行解调，得到解调后的图像帧数据，然后通过奇偶校验、循环冗余检验(Cyclic redundancy check,CRC)等校验方法对从可移动平台接收到的图像帧进行校验，从而确定出未正确接收可移动平台发送的目标图像帧。
S204、第一终端通过第三通信连接向第二终端发送目标图像帧的标识信息。
在本发明实施例中，所述第三通信连接可以是有线通信连接，也可以是无线通信连接。
具体实现中，所述目标图像帧的标识信息可以是目标图像帧在图像序列中的序列位置信息，如可移动平台发送的图像序列中共有10帧图像，目标图像帧是图像序列中的第2帧图像，那么目标图像帧的序列位置信息为2。可选的，当每帧图像是通过数据包的形式进行通信传输时，所述目标图像帧的标识信息也可以是含有目标图像帧的数据包的标识信息，在此不限定。
S205、第二终端根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧。
在本发明实施例中，所述根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧的方式可以是，第二终端对标识信息进行解析处理，得到解析处理后的标识信息，然后确定解析处理后的标识信息所指示的目标图像帧。所述根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧的方式也可以是，在从可移动平台接收到的多个图像帧中查找与标识信息匹配的图像帧，然后确定所述匹配的的图像帧为目标图像帧。可选的，也可以其他方式确定接收到的目标图像帧，在此不限定。
在本发明实施例中，所述接收到的目标图像帧是不存在接收错误的目标图像帧。
在一种可能的实现方式中，在第二终端确定接收到的目标图像帧之后，还可以进一步判断接收到的目标图像帧是否存在接收错误。
若第二终端确定接收到的目标图像帧不存在接收错误，则直接执行步骤S206。若第二终端确定接收到的目标图像帧存在接收错误，则第二终端可以通过第二无线通信连接向可移动平台发送目标图像帧的重传指示，然后可移动平台响应所述重传指示，向第二终端再次发送目标图像帧，最后第二终端通过第三通信连接将再次从可移动平台接收到的目标图像帧发送至第一终端。可选的，第二终端通过第二无线通信连接向可移动平台发送目标图像帧的重传指示中可以包括第一终端的终端标识信息，然后可移动平台在响应重传指示时，可以直接向终端标识信息指示的第一终端再次发送目标图像帧。可选的，可移动平台也可以响应重传指示，同时向第一终端和第二终端发送目标图像帧，在此不限定。
可选的，若第二终端确定接收到的目标图像帧存在接收错误，则第二终端还可以通过第三通信连接向第一终端发送目标图像帧恢复错误信息，然后第一终端会响应于目标图像帧恢复错误信息，通过第一无线通信连接向可移动平台发送目标图像帧的重传指示，最后可移动平台响应所述重传指示，向第一终端再次发送目标图像帧。
具体来说，所述目标图像帧恢复错误信息用于指示第一终端向可移动平台发送目标图像帧的重传指示。此外，可移动平台响应重传指示发送目标图像帧时，由于目标图像帧的数据量会小于或者等于可移动平台之前发送的图像帧，使得信道带宽对图像数据的码率控制变小，所以目标图像帧的传输质量会更好，终端正确接收目标图像帧的可能性就越大。
可选的，可移动平台也可以不用同时向第一终端和第二终端发送目标图像帧，只需要选择向一个信道带宽更大的终端发送目标图像帧，使得目标图像帧的传输质量相对更好一些，最后再由信道带宽更大的终端通过第三通信连接将正确接收的目标图像帧发送至其他终端。
S206、第二终端通过第三通信连接向第一终端发送接收到的目标图像帧。
在本发明实施例中，所述第二终端通过第三通信连接向第一终端发送接收到的目标图像帧可以是在物理层，数据链路层，网络层或者应用层通过第三通信连接的将目标图像帧发送给第一终端。
S207、第一终端执行图像恢复操作，以获取正确接收的目标图像帧。
在本发明实施例中，所述通过图像恢复操作获取的正确接收的目标图像帧是根据第二终端接收到的目标图像帧得到的。所述图像恢复操作具体可以是：第一终端响应图像恢复操作，直接将第二终端接收到的目标图像帧确定为正确接收的目标图像帧；或者第一终端响应图像恢复操作，将第一终端未正确接收可移动平台发送的目标图像帧替换成接收到的目标图像帧，从而得到正确接收的目标图像帧。
举例来说，请参见附图3，示出了一种图像恢复操作的示意图，第一终端和第二终端接收到可移动平台发送的图像序列，其中，第一终端在接收到图像序列中的第3帧图像时接收错误，因此第一终端确定第3帧图像为未正确接收可移动平台发送的目标图像帧，并通过第三通信连接向第二终端发送第3帧图像的标识信息A；之后，由于第一终端没有接收到图像序列中的第8帧图像，第一终端确定第8帧图像为未正确接收可移动平台发送的目标图像帧，并通过第三通信连接向第二终端发送第8帧图像的标识信息B。然后，由第二终端根据标识信息A和标识信息B，在第二终端从可移动平台接收到的图像帧中确定第二终端接收到的第3帧图像303和第8帧图像304，并通过第三通信连接传输至第一终端。最后，第一终端执行图像恢复操作，即将原本图像序列中的第3帧图像301和第8帧图像302替换为从第二终端 接收到的图像303和图像304，从而获取到图像序列中正确接收的第3帧图像和第8帧图像。
可选的，第二终端在接收到第一终端通过第三通信连接发送的标识信息A时，可以立刻根据标识信息A，在第二终端从可移动平台接收到的图像帧中确定第二终端接收到的第3帧图像303，并通过第三通信连接传输至第一终端；最后，由第一终端执行图像恢复操作，即将图像301替换为从第二终端接收到的图像303，从而获取到图像序列中正确接收的第3帧图像。之后，第二终端在接收到标识信息B时同理，在此不赘述。可选的，也可以在第一终端接收到整个图像序列之后，再确定整个图像序列中是否存在未正确接收的目标图像帧；然后，第一终端通过第三通信连接向第二终端发送目标图像帧的标识信息，从而由第二终端根据标识信息，在第二终端从可移动平台接收到的图像帧中确定第二终端接收到的目标图像帧，并通过第三通信连接传输至第一终端；最后，第一终端执行图像恢复操作。
在本实施例中，第一终端和第二终端分别通过第一无线通信连接和第二无线通信连接接收到了可移动平台发送的图像帧；当第一终端中存在未正确接收可移动平台发送的目标图像帧时，第一终端可以通过第三通信连接向第二终端发送目标图像帧的标识信息，以使第二终端可以根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧，从而使得第一终端能够执行图像恢复操作以获取正确接收的目标图像帧；也就是说，当第一终端或者第二终端中任一终端中出现未正接收到可移动平台发送的目标图像帧时，可以通过两个终端之间的第三通信连接从另一终端获取与目标图像帧相同的，且正确接收的图像帧，从而使得终端不用再向可移动平台发送目标图像帧的重传指令，就可以获取到正确接收的目标图像帧，进而减少了可移动平台重传目标图像帧的次数，以实现提高可移动平台的图像传输效率。
基于图1提供的图像处理系统的架构示意图，本发明实施例提供的一种图像处理方法的流程示意图，请参见图4，图4中第一终端与可移动平台建立第一无线通信连接，第二终端与可移动平台建立第二无线通信连接，第一终端和第二终端建立第三通信连接，可移动平台包括采集图像的成像装置。图4具体包括步骤S401～步骤S404：
S401、第一终端通过第一无线通信连接接收可移动平台发送的图像帧。
S402、第二终端通过第二无线通信连接接收可移动平台发送的图像帧。
S403、第一终端确定未正确接收可移动平台发送的目标图像帧。
S404、第一终端通过第三通信连接向第二终端发送目标图像帧的标识信息。
S405、第二终端根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧。
其中，步骤S401～步骤S405的具体实施方式可以参见步骤S201～步骤S205的具体实施方式，在此不赘述。
S406、第二终端在确定从可移动平台接收到的目标图像帧存在接收错误时，将从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧。
在本发明实施例中，所述将从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧的方式可以是：将从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行物理层的软比特合并，将软比特合并后的目标图像帧作为融合后的目标图像帧。
具体实现中，第一终端在确定未正确接收所述可移动平台发送的目标图像帧后，可以对目标图像帧进行解调，得到目标图像帧解调后的第一软比特信息(log normal ratio，LLR)，并将第一软比特信息发送至第二终端；当第二终端确定第二终端从所述可移动平台接收到的 目标图像帧存在接收错误，可以对目标图像帧进行解调，得到目标图像帧解调后的第二软比特信息；然后第二终端将第一软比特信息和第二软比特信息进行软比特合并，从而得到第三软比特信息，第三软比特信息用于指示融合后的目标图像帧的信息。其中，可以设定目标图像帧的软比特的个数为L，L为正整数，第一软比特信息包括a 1、a 2……a L，第二软比特信息包括b 1、b 2……b L，软比特合并的公式可以是直接将第一软比特信息和第二软比特信息相加，如c i＝a i+b i，其中1≤i≤L，i为正整数，从而得到合并软比特信息c 1、c 2……c L。
可选的，还可以随着编码方式，如Turbo码(一种级联码)、Polar码(极化码)等，或者解码需求的不同，采用不同的软比特合并方式。示例性地，可以采用最大比合并、对数似然比加权合并、距离级合并等软比特合并方式，在此不限定。
在一种可能的实现方式中，所述将从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧的方式还可以是：先对从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行图像预处理，其中预处理可以包括去噪、灰度化等；然后，将从可移动平台接收到的目标图像帧的各个像素点的像素值，与从第一终端接收到的目标图像帧的各个像素点的像素值进行对应融合，从而得到融合后的目标图像帧。其中，融合的方式可以是逻辑滤波法、数学形态法、字塔图像融合法、小波变换图像融合法和多尺度分解法等，为本领域技术人员惯用技术手段，在此不赘述。
在一种可能的实现方式中，还可以是基于图像分离技术对从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧。其中，图像分离技术主要是通过利用信号和图像的成分来对信号和图像进行分析，主要有主成分分析、次成分分析、态成分分析等，然后根据某些假设条件，在已知信号、图像以及分析信息下，从获得的混合信号中提取或恢复出源信号来，也就是有可能根据从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧恢复出正确接收的目标图像帧。图像分离技术为本领域技术人员惯用技术手段，在此不赘述。可选的，还可以通过其他融合方法获取融合后的目标图像帧，在此不限定。
此外，第一终端和第二终端分别接收可移动平台发送的广播图像数据时，由于第一终端与可移动平台，以及第二终端与可移动平台的无线通信连接不同，因此相同的广播图像数据被传输至第一终端和第二终端的过程中，会经历不同的衰落、遮挡和干扰等，导致第一终端和第二终端接收到的广播图像数据的质量不同，从而会出现所有终端全部接收正确，只有一个终端接收正确或者全部终端接收错误的情况。也就是说，不论终端是否全部接收正确，各个终端接收到的图像帧数据的质量都会受到一定程度影响，而通过不同终端接收到的图像帧进行融合，可以增加接收增益，即获取到质量更好的图像帧数据。
因此，可选的，第二终端还可以在接收到第一终端发送的目标图像帧之后，可以直接将第二终端从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧。
S407、第二终端判断融合后的目标图像帧是否能被正确解析；若融合后的目标图像帧能被正确解析，则执行步骤S408。
在本发明实施例中，所述第二终端判断融合后的目标图像帧是否能被正确解析的方式具体可以是第二终端对融合后的目标图像帧的软比特信息进行解调，如果能够成功解调，则说明融合后的目标图像帧能被正确解析，如果不能成功解调，则说明融合后的目标图像帧不能被正确解析。
在一种可能的实现方式中，若融合后的目标图像帧不能被正确解析，则第二终端可以向 可移动平台发送目标图像帧的重传指示，以使可移动平台通过第一无线通信连接和/或者第二无线通信连接向第一终端和/或第二终端发送目标图像帧。
S408、第二终端通过第三通信连接向第一终端发送融合后的目标图像帧。
其中，步骤S408的具体实施方式可以参见步骤S206的具体实施方式，在此不赘述。
S409、第一终端执行图像恢复操作，以获取正确接收的目标图像帧。
在本发明实施例中，所述通过图像恢复操作获取的正确接收的目标图像帧是根据将第二终端从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行融合后，所获取到的融合后的目标图像帧得到的。具体来说，所述第一终端执行图像恢复操作的方式可以是：第一终端响应图像恢复操作，直接将融合后的目标图像帧确定为正确接收的目标图像帧；或者第一终端响应图像恢复操作，将第一终端未正确接收可移动平台发送的目标图像帧替换成融合后的目标图像帧，从而得到正确接收的目标图像帧。
在本实施例中，第一终端将目标图像帧和目标图像帧的标识信息均发送给第二终端，使得第二终端在根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧，以及确定从可移动平台接收到的目标图像帧存在接收错误之后，将从可移动平台接收到的目标图像帧和从第一终端接收到的所述目标图像帧进行融合，以获取融合后的目标图像帧；若融合后的目标图像帧能被正确解析，就通过第三通信连接向第一终端发送融合后的目标图像帧，最后使得第一终端可以根据融合后的目标图像帧执行图像恢复操作，以获取正确接收的目标图像帧。也就是说，如果第二终端从可移动平台接收到的目标图像帧也存在接收错误的话，可以将从可移动平台接收到的目标图像帧和从第一终端接收到的所述目标图像帧进行融合，若融合后的目标图像帧能被正确解析，就有利于第一终端获取正确接收的目标图像帧，终端也不用需要向可移动平台发送目标图像帧的重传指令才能获取到正确接收的目标图像帧，从而减少了可移动平台重传目标图像帧的次数，进而提高了可移动平台的图像传输效率。
基于图1提供的图像处理系统的架构示意图，本发明实施例提供的一种图像处理方法的流程示意图，请参见图5，图5中第一终端与可移动平台建立第一无线通信连接，第二终端与可移动平台建立第二无线通信连接，第一终端和第二终端建立第三通信连接，可移动平台包括采集图像的成像装置。图5具体包括步骤S501～步骤S508：
S501、第一终端通过第一无线通信连接接收可移动平台发送的图像帧。
S502、第二终端通过第二无线通信连接接收可移动平台发送的图像帧。
S503、第一终端确定未正确接收可移动平台发送的目标图像帧。
S504、第一终端通过第三通信连接向第二终端发送目标图像帧的标识信息。
S505、第二终端根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧。
S506、第二终端通过第三通信连接向第一终端发送接收到的目标图像帧。
其中，步骤S501～步骤S506的具体实施方式可以参见步骤S201～步骤S206的具体实施方式，在此不赘述。
S507、第一终端判断从第二终端接收到的目标图像帧是否存在接收错误，若不存在接收错误，则执行步骤S508。
在一种可能的实现方式中，若第一终端判断从第二终端接收到的目标图像帧存在接收错误，则第一终端可以通过第一无线通信连接向可移动平台发送目标图像帧的重传指示，以使可移动平台响应目标图像帧的重传指示，通过第一无线通信连接和/或第二无线通信连接向第 一终端和/或第二终端发送目标图像帧。可选的，若第一终端判断从第二终端接收到的目标图像帧存在接收错误，则第一终端还可以通过第三通信连接向第二终端发送目标图像帧恢复错误信息；然后由第二终端可以通过第二无线通信连接向可移动平台发送目标图像帧的重传指示，以使可移动平台响应目标图像帧的重传指示，通过第一无线通信连接和/或者第二无线通信连接向第一终端和/或第二终端发送目标图像帧。
其中，步骤S507中关于重传指令和目标图像帧恢复错误信息的具体实施方式可以参见步骤S204中关于重传指令和目标图像帧恢复错误信息的具体实施方式，在此不赘述。
S508、第一终端执行图像恢复操作，以获取正确接收的目标图像帧。
本发明实施例中，通过图像恢复操作获取的正确接收的目标图像帧是根据第二终端接收到的目标图像帧得到的。可选的，若步骤S507中判断出第二终端接收到的目标图像帧存在接收错误，那么，通过图像恢复操作获取的正确接收的目标图像帧则是根据第一终端在判断出第二终端接收到的目标图像帧存在接收错误时，通过第一无线通信连接向可移动平台发送目标图像帧的重传指示后，可移动平台响应重传指示，通过第一无线通信连接向第一终端发送的目标图像帧得到的。此时，所述第一终端执行图像恢复操作的方式可以是：第一终端响应图像恢复操作，直接将第一终端从可移动平台再次接收到的目标图像帧确定为正确接收的目标图像帧；或者第一终端响应图像恢复操作，将第一终端未正确接收可移动平台发送的目标图像帧替换成第一终端从可移动平台再次接收到的目标图像帧，从而得到正确接收的目标图像帧。
可选的，第一终端通过第一无线通信连接接收到可移动平台响应重传指示发送的目标图像帧之后，还可以判断第一终端从可移动平台再次接收到的目标图像帧是否存在接收错误，若不存在接收错误，则第一终端执行图像恢复操作，以获取正确接收的目标图像帧。
若存在接收错误，则第一终端可以再次通过第一无线通信连接向可移动平台发送目标图像帧的重传指示，或者第一终端再次通过第三通信连接向第二终端发送目标图像帧恢复错误信息，然后由第二终端可以通过第二无线通信连接向可移动平台发送目标图像帧的重传指示；在第一终端又一次通过第一无线通信连接接收到可移动平台响应重传指示发送的目标图像帧之后，继续判断第一终端从可移动平台再次接收到的目标图像帧是否存在接收错误，直至第一终端从可移动平台接收到的目标图像帧不存在接收错误。
基于图1提供的图像处理系统的架构示意图，本发明实施例提供的一种图像处理方法的流程示意图，请参见图6，图6中第一终端与可移动平台建立第一无线通信连接，第二终端与可移动平台建立第二无线通信连接，第一终端和第二终端建立第三通信连接，可移动平台包括采集图像的成像装置。图6具体包括步骤S601～步骤S609：
S601、第一终端通过第一无线通信连接接收可移动平台发送的图像帧。
S602、第二终端通过第二无线通信连接接收可移动平台发送的图像帧。
S603、第一终端确定未正确接收可移动平台发送的目标图像帧。
S604、第一终端通过第三通信连接向第二终端发送目标图像帧的标识信息。
S605、第二终端根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧。
S606、第二终端通过第三通信连接向第一终端发送接收到的目标图像帧。
其中，步骤S601～步骤S606的具体实施方式可以参见步骤S201～步骤S206的具体实施方式，在此不赘述。
S607、第一终端在确定从第二终端接收到的目标图像帧存在接收错误时，将第一终端从 可移动平台接收到的目标图像帧和从第二终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧。
S608、第一终端判断融合后的目标图像帧是否能被正确解析？若融合后的目标图像帧能被正确解析，则执行步骤S609。
其中，步骤S607～步骤S608的具体实施方式可以参见步骤S406～步骤S407的具体实施方式，在此不赘述。
S609、第一终端执行图像恢复操作，以获取正确接收的目标图像帧。
其中，步骤S609的具体实施方式可以参见步骤S409的具体实施方式，在此不赘述。
请参见图7，图7是本申请实施例提供的一种终端的结构示意图。本申请实施例所描述的终端70，包括：处理器701、存储器702、通信接口703。上述处理器701、存储器702及通信接口703通过一条或多条通信总线连接。
存储器702可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；存储器702也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，固态硬盘(solid-state drive，SSD)等；存储器702还可以包括上述种类的存储器的组合。
处理器701可以是中央处理器(central processing unit，CPU)。所述处理器701还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)等。上述PLD可以是现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)等。
本申请实施例所描述的终端通过处理器701、存储器702及通信接口703用于实施上述图2、图4、图5、图6所示的本申请各个实施例实现的方法。为了便于说明，仅示出了与本申请实施例相关的部分，具体实现请参照图2、图4、图5、图6所示的本申请各个实施例。
在一个实施例中，存储器702中存储有计算机程序，处理器701调用存储器702中的计算机程序，当计算机程序被执行时，处理器701用于执行：
通过第一无线通信连接接收可移动平台发送的图像帧，所述图像帧是所述可移动平台中的成像装置采集到的；
在确定未正确接收可移动平台发送的目标图像帧时，通过第三通信连接向第二终端发送目标图像帧的标识信息，以使第二终端根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧；
执行图像恢复操作以获取正确接收的目标图像帧，其中，通过图像恢复操作获取的正确接收的目标图像帧是根据第二终端接收到的目标图像帧得到的。
在一种实现方式中，处理器701还用于：通过第三无线通信连接接收第二终端发送的接收到的目标图像帧；
确定从第二终端接收到的目标图像帧是否存在接收错误，若确定不存在接收错误时，确定获取到正确接收的目标图像帧。
在一种实现方式中，处理器701还用于：确定从第二终端接收到的目标图像帧存在接收错误时，通过第一无线通信连接向可移动平台发送目标图像帧的重传指示；或者，
确定从第二终端接收到的目标图像帧存在接收错误时，通过第三通信连接向第二终端发送目标图像帧恢复错误信息，以使第二终端响应于目标图像帧恢复错误信息，通过第二无线 通信连接向可移动平台发送目标图像帧的重传指示。
在一种实现方式中，处理器701还用于：在确定从第二终端接收到的目标图像帧存在接收错误时，将从可移动平台接收到的存在接收错误的目标图像帧和从第二终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧，确定融合后的目标图像帧是否能被正确解析，若能被正确解析时，确定获取到正确接收的目标图像帧。
在一种实现方式中，处理器701还用于：在确定融合后的目标图像帧解析错误时，通过第一无线通信连接向可移动平台发送目标图像帧的重传指示；或者，
在确定融合后的目标图像帧解析错误时，通过第三通信连接向第二终端发送目标图像帧恢复错误信息，以使第二终端响应于目标图像帧恢复错误信息，通过第二无线通信连接向可移动平台发送目标图像帧的重传指示。
在一种实现方式中，处理器701还用于：通过第三通信连接向第二终端发送接收到的存在接收错误的目标图像帧，以使第二终端在确定从可移动平台接收到的目标图像帧存在接收错误时，将从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧；
在第二终端确定融合后的目标图像帧能被正确解析时，通过第三通信连接接收第二终端发送的融合后的目标图像帧。
在一种实现方式中，终端包括显示装置，其中，终端通过显示装置显示所述图像帧。
在一种实现方式中，终端为头戴式显示装置。
本发明实施例通过在第一终端和第二终端之间建立第三通信连接，以使得当第一终端存在未正确接收可移动平台发送的目标图像帧时，可以向第二终端发送标识信息；在第二终端根据标识信息确定接收到的目标图像帧后，第一终端可以根据第二终端接收到的目标图像帧去执行图像恢复操作，以获取正确接收的目标图像帧，从而可以做到当终端未正确接收可移动平台发送的目标图像帧时，可以通过其他终端接收到的目标图像帧去执行图像恢复操作，以获取正确接收的目标图像帧。也就是说，终端不用通过向可移动平台发送重传指令的方式就可以获取到正确接收的目标图像帧，从而减少了可移动平台重传目标图像帧的次数，进而提高了可移动平台的图像传输效率。
在另一个实施例中，777处理器701用于执行：
通过第二无线通信连接接收可移动平台发送的图像帧，图像帧是可移动平台中的成像装置采集到的；
接收第一终端在确定未正确接收可移动平台发送的目标图像帧时，通过第三通信连接发送目标图像帧的标识信息；
根据标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧，并通过第三通信连接向第一终端发送接收到的目标图像帧，以使第一终端执行图像恢复操作以获取正确接收的目标图像帧，其中，通过图像恢复操作获取的正确接收的目标图像帧是根据接收到的目标图像帧得到的。
在一种实现方式中，处理器701还用于：确定接收到的目标图像帧是否存在接收错误，当确定不存在接收错误时，通过第三通信连接向第一终端发送接收到的目标图像帧。
在一种实现方式中，处理器701还用于：在确定接收到的目标图像帧存在接收错误时，通过第二无线通信连接向可移动平台发送目标图像帧的重传指示；或者，
在确定接收到的目标图像帧存在接收错误时，通过第三通信连接向第一终端发送目标图 像帧恢复错误信息，以使第一终端响应于目标图像帧恢复错误信息，通过第一无线通信连接向可移动平台发送目标图像帧的重传指示。
在一种实现方式中，处理器701还用于：接收第一终端通过第三通信连接发送的第一终端接收到的存在接收错误的目标图像帧；
在确定从可移动平台接收到的目标图像帧存在接收错误时，将从可移动平台接收到的目标图像帧和从第一终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧，确定融合后的目标图像帧是否能被正确解析，若能被正确解析时，通过第三通信连接向第一终端发送融合后的目标图像帧。
在一种实现方式中，处理器701还用于：在确定融合后的目标图像帧解析错误时，通过第二无线通信连接向可移动平台发送目标图像帧的重传指示；或者，
在确定融合后的目标图像帧解析错误时，通过第三通信连接向第一终端发送目标图像帧恢复错误信息，以使第一终端响应于目标图像帧恢复错误信息，通过第一无线通信连接向可移动平台发送目标图像帧的重传指示。
在一种实现方式中，终端包括遥控设备。
本发明实施例通过在第一终端和第二终端之间建立第三通信连接，以使得当第一终端存在未正确接收可移动平台发送的目标图像帧时，可以向第二终端发送标识信息；在第二终端根据标识信息确定接收到的目标图像帧后，第一终端可以根据第二终端接收到的目标图像帧去执行图像恢复操作，以获取正确接收的目标图像帧，从而可以做到当终端未正确接收可移动平台发送的目标图像帧时，可以通过其他终端接收到的目标图像帧去执行图像恢复操作，以获取正确接收的目标图像帧。也就是说，终端不用通过向可移动平台发送重传指令的方式就可以获取到正确接收的目标图像帧，从而减少了可移动平台重传目标图像帧的次数，进而提高了可移动平台的图像传输效率。
可以理解的是，在本发明所提供的图像处理方法不局限于可移动平台需要向两个终端发送图像数据的场景；还可以适用于可移动平台需要向两个及两个以上的终端发送图像数据的场景，在此不限定。
举例来说，可以在多个终端中的各个终端之间建立通信连接，若任一终端确定未正确接收可移动平台发送的目标图像帧，则可以通过任一终端与多个终端中除任一终端之外的其他终端之间的通信连接，向多个终端中除任一终端之外的其他终端发送目标图像帧的标识信息，然后多个终端中除任一终端之外的其他终端根据所述标识信息从可移动平台接收到的图像帧中确定接收到的目标图像帧，并将接收到的目标图像帧发送至所述任一终端，最后由所述任一终端执行图像恢复操作以获取正确接收的目标图像帧，其中，通过所述图像恢复操作获取的正确接收的目标图像帧是根据多个终端中除任一终端之外的其他终端接收到的目标图像帧得到的。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部 件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (42)

  1. 一种图像处理方法，其特征在于，第一终端与可移动平台建立第一无线通信连接，第二终端与所述可移动平台建立第二无线通信连接，所述第一终端和所述第二终端建立第三通信连接，所述可移动平台包括采集图像的成像装置；
    所述第一终端和所述第二终端分别通过所述第一无线通信连接和所述第二无线通信连接接收所述可移动平台发送的图像帧，其中，所述图像帧是所述成像装置采集的；
    所述第一终端在确定未正确接收所述可移动平台发送的目标图像帧时，通过所述第三通信连接向所述第二终端发送所述目标图像帧的标识信息；
    所述第二终端根据所述标识信息从所述可移动平台接收到的图像帧中确定接收到的目标图像帧；
    所述第一终端执行图像恢复操作以获取正确接收的目标图像帧，其中，所述通过所述图像恢复操作获取的所述正确接收的目标图像帧是根据所述第二终端接收到的目标图像帧得到的。
  2. 根据权利要求1所述的方法，其特征在于，所述第二终端接收到的目标图像帧为所述第二终端接收到的不存在接收错误的目标图像帧或者所述第二终端接收到的存在接收错误的目标图像帧。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述第二终端确定所述接收到的目标图像帧是否存在接收错误，当确定不存在接收错误时，通过所述第三通信连接向所述第一终端发送所述接收到的目标图像帧；
    所述第一终端通过所述第三无线通信连接接收所述第二终端发送的所述接收到的目标图像帧。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    所述第二终端在确定所述接收到的目标图像帧存在接收错误时，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    所述第二终端在确定所述接收到的目标图像帧存在接收错误时，通过所述第三通信连接向所述第一终端发送目标图像帧恢复错误信息；
    所述第一终端响应于所述目标图像帧恢复错误信息，通过所述第一无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  5. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述第一终端通过所述第三通信连接向所述第二终端发送接收到的存在接收错误的所述目标图像帧；
    所述第二终端在确定从所述可移动平台接收到的目标图像帧存在接收错误时，将从所述可移动平台接收到的目标图像帧和从所述第一终端接收到的所述目标图像帧进行融合，以获取融合后的目标图像帧，确定所述融合后的目标图像帧是否能被正确解析，若能被正确解析时，通过所述第三通信连接向所述第一终端发送所述融合后的目标图像帧；
    所述第一终端通过所述第三通信连接接收所述第二终端发送的所述融合后的目标图像 帧。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    所述第二终端在确定所述融合后的目标图像帧解析错误时，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    所述第二终端在确定所述融合后的目标图像帧解析错误时，通过所述第三通信连接向所述第一终端发送所述目标图像帧恢复错误信息；
    所述第一终端响应于所述目标图像帧恢复错误信息，通过所述第一无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  7. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述第一终端通过所述第三通信连接接收所述第二终端发送的所述接收到的目标图像帧；
    所述第一终端确定从所述第二终端接收到的目标图像帧是否存在接收错误，若确定不存在接收错误时，确定获取到所述正确接收的目标图像帧。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    所述第一终端确定从所述第二终端接收到的目标图像帧存在接收错误时，通过所述第一无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    所述第一终端确定从所述第二终端接收到的目标图像帧存在接收错误时，通过所述第三通信连接向所述第二终端发送所述目标图像帧恢复错误信息；
    所述第二终端响应于所述目标图像帧恢复错误信息，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  9. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    所述第一终端在确定从所述第二终端接收到的目标图像帧存在接收错误时，将所述第一终端从所述可移动平台接收到的存在接收错误的目标图像帧和从所述第二终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧，确定所述融合后的目标图像帧是否能被正确解析，若能被正确解析时，确定获取到所述正确接收的目标图像帧。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    所述第一终端在确定所述融合后的目标图像帧解析错误时，通过所述第一无线通信连接向可移动平台发送所述目标图像帧的重传指示；或者，
    所述第一终端在确定所述融合后的目标图像帧解析错误时，通过所述第三通信连接向所述第二终端发送所述目标图像帧恢复错误信息；
    所述第二终端响应于所述目标图像帧恢复错误信息，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述可移动平台包括无人飞行器、无人车或者手持式电子设备。
  12. 根据权利要求1-10任一项所述的方法，其特征在于，所述第一终端包括显示装置，其中，所述第一终端通过所述显示装置显示所述图像帧。
  13. 根据权利要求12所述的方法，其特征在于，所述第一终端为头戴式显示装置。
  14. 根据权利要求1-10任一项所述的方法，其特征在于，所述第二终端包括遥控设备。
  15. 根据权利要求1-10任一项所述的方法，其特征在于，第三通信连接为无线通信连接或者有线通信连接。
  16. 一种图像处理系统，其特征在于，所述图像处理系统包括第一终端、第二终端以及可移动平台，所述第一终端与所述可移动平台建立第一无线通信连接，所述第二终端与所述可移动平台建立第二无线通信连接，所述第一终端和所述第二终端建立第三通信连接，所述可移动平台包括采集图像的成像装置；
    所述第一终端和所述第二终端，分别用于通过所述第一无线通信连接和所述第二无线通信连接接收所述可移动平台发送的图像帧，其中，所述图像帧是可移动平台的成像装置采集的；
    所述第一终端，还用于在确定未正确接收所述可移动平台发送的目标图像帧时，通过所述第三通信连接向所述第二终端发送所述目标图像帧的标识信息；
    所述第二终端，还用于根据所述标识信息从所述可移动平台接收到的图像帧中确定接收到的目标图像帧；
    所述第一终端，还用于执行图像恢复操作以获取正确接收的目标图像帧，其中，所述通过所述图像恢复操作获取的所述正确接收的目标图像帧是根据所述第二终端接收到的目标图像帧得到的。
  17. 根据权利要求16所述的系统，其特征在于：
    所述第二终端接收到的目标图像帧为所述第二终端接收到的不存在接收错误的目标图像帧或者所述第二终端接收到的存在接收错误的目标图像帧。
  18. 根据权利要求16所述的系统，其特征在于：
    所述第二终端，还用于确定所述接收到的目标图像帧是否存在接收错误，当确定不存在接收错误时，通过所述第三通信连接向所述第一终端发送所述接收到的目标图像帧；
    所述第一终端，还用于通过所述第三无线通信连接接收所述第二终端发送的所述接收到的目标图像帧。
  19. 根据权利要求16所述的系统，其特征在于：
    所述第二终端，还用于在确定所述接收到的目标图像帧存在接收错误时，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    所述第二终端，还用于在确定所述接收到的目标图像帧存在接收错误时，通过所述第三通信连接向所述第一终端发送目标图像帧恢复错误信息；
    所述第一终端，还用于响应于所述目标图像帧恢复错误信息，通过所述第一无线通信连 接向所述可移动平台发送所述目标图像帧的重传指示。
  20. 根据权利要求16所述的系统，其特征在于：
    所述第一终端，还用于通过所述第三通信连接向所述第二终端发送接收到的存在接收错误的所述目标图像帧；
    所述第二终端，还用于在确定从所述可移动平台接收到的目标图像帧存在接收错误时，将从所述可移动平台接收到的目标图像帧和从所述第一终端接收到的所述目标图像帧进行融合，以获取融合后的目标图像帧，确定所述融合后的目标图像帧是否能被正确解析，若能被正确解析时，通过所述第三通信连接向所述第一终端发送所述融合后的目标图像帧；
    所述第一终端，还用于通过所述第三通信连接接收所述第二终端发送的所述融合后的目标图像帧。
  21. 根据权利要求20所述的系统，其特征在于：
    所述第二终端，还用于在确定所述融合后的目标图像帧解析错误时，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    所述第二终端，还用于在确定所述融合后的目标图像帧解析错误时，通过所述第三通信连接向所述第一终端发送所述目标图像帧恢复错误信息；
    所述第一终端，还用于响应于所述目标图像帧恢复错误信息，通过所述第一无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  22. 根据权利要求16所述的系统，其特征在于：
    所述第一终端，还用于通过所述第三通信连接接收所述第二终端发送的所述接收到的目标图像帧；
    所述第一终端，还用于确定从所述第二终端接收到的目标图像帧是否存在接收错误，若确定不存在接收错误时，确定获取到所述正确接收的目标图像帧。
  23. 根据权利要求22所述的系统，其特征在于：
    所述第一终端，还用于确定从所述第二终端接收到的目标图像帧存在接收错误时，通过所述第一无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    所述第一终端，还用于确定从所述第二终端接收到的目标图像帧存在接收错误时，通过所述第三通信连接向所述第二终端发送所述目标图像帧恢复错误信息；
    所述第二终端，还用于响应于所述目标图像帧恢复错误信息，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  24. 根据权利要求22所述的系统，其特征在于：
    所述第一终端，还用于在确定从所述第二终端接收到的目标图像帧存在接收错误时，将从所述可移动平台接收到的存在接收错误的目标图像帧和从所述第二终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧，确定所述融合后的目标图像帧是否能被正确解析，若能被正确解析时，确定获取到所述正确接收的目标图像帧。
  25. 根据权利要求24所述的系统，其特征在于：
    所述第一终端，还用于在确定所述融合后的目标图像帧解析错误时，通过所述第一无线通信连接向可移动平台发送所述目标图像帧的重传指示；或者，
    所述第一终端，还用于在确定所述融合后的目标图像帧解析错误时，通过所述第三通信连接向所述第二终端发送所述目标图像帧恢复错误信息；
    所述第二终端，还用于响应于所述目标图像帧恢复错误信息，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  26. 一种终端，其特征在于，所述终端包括存储器和处理器；
    所述存储器，用于存储计算机程序；
    所述处理器，调用所述计算机程序，用于：通过第一无线通信连接接收可移动平台发送的图像帧，所述图像帧是所述可移动平台中的成像装置采集到的；
    在确定未正确接收所述可移动平台发送的目标图像帧时，通过第三通信连接向第二终端发送所述目标图像帧的标识信息，以使所述第二终端根据所述标识信息从所述可移动平台接收到的图像帧中确定接收到的目标图像帧；
    执行图像恢复操作以获取正确接收的目标图像帧，其中，所述通过所述图像恢复操作获取的所述正确接收的目标图像帧是根据所述第二终端接收到的目标图像帧得到的。
  27. 根据权利要求26所述的终端，其特征在于，所述处理器，还用于：
    通过所述第三无线通信连接接收所述第二终端发送的所述接收到的目标图像帧；
    确定从所述第二终端接收到的目标图像帧是否存在接收错误，若确定不存在接收错误时，确定获取到所述正确接收的目标图像帧。
  28. 根据权利要求27所述的终端，其特征在于，所述处理器，还用于：
    确定从所述第二终端接收到的目标图像帧存在接收错误时，通过所述第一无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    确定从所述第二终端接收到的目标图像帧存在接收错误时，通过所述第三通信连接向所述第二终端发送所述目标图像帧恢复错误信息，以使所述第二终端响应于所述目标图像帧恢复错误信息，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  29. 根据权利要求27所述的终端，其特征在于，所述处理器，还用于：
    在确定从所述第二终端接收到的目标图像帧存在接收错误时，将从所述可移动平台接收到的存在接收错误的目标图像帧和从所述第二终端接收到的目标图像帧进行融合，以获取融合后的目标图像帧，确定所述融合后的目标图像帧是否能被正确解析，若能被正确解析时，确定获取到所述正确接收的目标图像帧。
  30. 根据权利要求27所述的终端，其特征在于，所述处理器，还用于：
    在确定所述融合后的目标图像帧解析错误时，通过所述第一无线通信连接向可移动平台发送所述目标图像帧的重传指示；或者，
    在确定所述融合后的目标图像帧解析错误时，通过所述第三通信连接向所述第二终端发送所述目标图像帧恢复错误信息，以使所述第二终端响应于所述目标图像帧恢复错误信息，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  31. 根据权利要求27所述的终端，其特征在于，所述处理器，还用于：
    通过所述第三通信连接向所述第二终端发送接收到的存在接收错误的所述目标图像帧，以使所述第二终端在确定从所述可移动平台接收到的目标图像帧存在接收错误时，将从所述可移动平台接收到的目标图像帧和从所述第一终端接收到的所述目标图像帧进行融合，以获取融合后的目标图像帧；
    在所述第二终端确定所述融合后的目标图像帧能被正确解析时，通过所述第三通信连接接收所述第二终端发送的所述融合后的目标图像帧。
  32. 根据权利要求26-31任一项所述的终端，其特征在于，所述终端包括显示装置，其中，所述终端通过所述显示装置显示所述图像帧。
  33. 根据权利要求26-31任一项所述的终端，其特征在于，所述终端为头戴式显示装置。
  34. 一种终端，其特征在于，所述终端包括存储器和处理器；
    所述存储器，用于存储计算机程序；
    所述处理器，调用所述计算机程序，用于：通过第二无线通信连接接收可移动平台发送的图像帧，所述图像帧是所述可移动平台中的成像装置采集到的；
    接收第一终端在确定未正确接收所述可移动平台发送的目标图像帧时，通过第三通信连接发送的所述目标图像帧的标识信息；
    根据所述标识信息从所述可移动平台接收到的图像帧中确定接收到的目标图像帧，并通过所述第三通信连接向所述第一终端发送所述接收到的目标图像帧，以使所述第一终端执行图像恢复操作以获取正确接收的目标图像帧，其中，所述通过所述图像恢复操作获取的所述正确接收的目标图像帧是根据所述接收到的目标图像帧得到的。
  35. 根据权利要求34所述的终端，其特征在于，所述处理器，还用于：
    确定所述接收到的目标图像帧是否存在接收错误，当确定不存在接收错误时，通过所述第三通信连接向所述第一终端发送所述接收到的目标图像帧。
  36. 根据权利要求35所述的终端，其特征在于，所述处理器，还用于：
    在确定所述接收到的目标图像帧存在接收错误时，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    在确定所述接收到的目标图像帧存在接收错误时，通过所述第三通信连接向所述第一终端发送目标图像帧恢复错误信息，以使所述第一终端响应于所述目标图像帧恢复错误信息，通过所述第一无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  37. 根据权利要求34所述的终端，其特征在于，所述处理器，还用于：
    接收所述第一终端通过所述第三通信连接发送的所述第一终端接收到的存在接收错误的所述目标图像帧；
    在确定从所述可移动平台接收到的目标图像帧存在接收错误时，将从所述可移动平台接收到的目标图像帧和从所述第一终端接收到的所述目标图像帧进行融合，以获取融合后的目 标图像帧，确定所述融合后的目标图像帧是否能被正确解析，若能被正确解析时，通过所述第三通信连接向所述第一终端发送所述融合后的目标图像帧。
  38. 根据权利要求37所述的终端，其特征在于，所述处理器，还用于：
    在确定所述融合后的目标图像帧解析错误时，通过所述第二无线通信连接向所述可移动平台发送所述目标图像帧的重传指示；或者，
    在确定所述融合后的目标图像帧解析错误时，通过所述第三通信连接向所述第一终端发送所述目标图像帧恢复错误信息，以使所述第一终端响应于所述目标图像帧恢复错误信息，通过所述第一无线通信连接向所述可移动平台发送所述目标图像帧的重传指示。
  39. 根据权利要求34-38任一项所述的终端，其特征在于，所述终端包括遥控设备。
  40. 一种计算机可读存储介质，其特征在于，所述可读存储介质中存储有计算机程序或指令，所述计算机程序或所述指令用于控制所述第一终端执行如权利要求1-10中任一项所述的方法。
  41. 一种计算机可读存储介质，其特征在于，所述可读存储介质中存储有计算机程序或指令，所述计算机程序或所述指令用于控制所述第二终端执行如权利要求1-10中任一项所述的方法。
  42. 一种计算机可读存储介质，其特征在于，所述可读存储介质中存储有计算机程序或指令，所述计算机程序或所述指令用于控制所述可移动平台执行如权利要求1-10中任一项所述的方法。
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CN103378955A (zh) * 2012-04-26 2013-10-30 华为技术有限公司 数据重传的方法、系统、数据重传装置和数据获取装置
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