The invention discloses a target
shooting method and shooting device based on an unmanned aerial vehicle, and the unmanned aerial vehicle. The method comprises the following steps: S1, obtaining a real-time video
stream containing at least one target; S2, selecting a certain single-frame image from the real-time video
stream, identifying a target in the single-frame image, and
numbering the target; and S3, carrying out 3D attitude
estimation on a certain numbered target, adjusting a holder attitude and / or a flight attitude and / or an imaging
focal length of the unmanned aerial vehicle accordingto a 3D attitude
estimation result to obtain a predetermined shooting angle, and completing shooting of the numbered target at the angle. According to the invention, real-time attitude
estimation canbe carried out on the target in the video
stream, and the attitude of the holder, the attitude of the unmanned aerial vehicle and the camera parameters are adjusted according to the attitude
estimation result, so that the optimal shooting angle is obtained, and the target condition is identified efficiently and accurately.