Rotary-wing drone provided with a video camera supplying stabilised image sequences

A rotor unmanned and unmanned aerial vehicle technology, applied in the field of rotor unmanned aerial vehicles, can solve the problems of low-resolution CCD sensor, inability to apply, insufficient fluid video sequences, etc.

Inactive Publication Date: 2015-11-11
PARROT
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0023] However, these image stabilization techniques are possible only because the camera in question is a camera with a low resolution CCD sensor (640x480 pixels, or 0.3 megapixels)
On the other hand, they will not apply to the stabilization of useful HD-quality (1920x1080 pixels, or 2 megapixels) images which themselves are windowed on very high-resolution raw fisheye images, e.g. Image fo...

Method used

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  • Rotary-wing drone provided with a video camera supplying stabilised image sequences
  • Rotary-wing drone provided with a video camera supplying stabilised image sequences
  • Rotary-wing drone provided with a video camera supplying stabilised image sequences

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Embodiment Construction

[0067] Exemplary embodiments will now be described.

[0068] exist figure 1 , reference numeral 10 generally designates an unmanned aerial vehicle, such as a quadrotor helicopter, such as the AR. UAV 2.0 of Parrot SA, Paris, France, described in particular in the above-mentioned WO2010 / 061099A2 and EP2364757A1 .

[0069] The drone 10 includes four coplanar rotors 12 whose motors are independently steered by an integrated navigation and attitude control system. It is equipped with a first front view camera 14 to allow obtaining an image of the scene the drone is pointing at.

[0070] The drone also includes a second downward looking camera (not shown) adapted to capture successive images of the ground being flown and used in particular to estimate the speed of the drone relative to the ground. Inertial sensors (accelerometers and gyroscopes) allow to measure with a certain accuracy the angular velocity and the attitude angle of the drone, i.e. the Euler angles (pitch Roll ...

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Abstract

The drone (10) comprises a camera with a hemispherical-field lens of the fisheye type pointing to a fixed direction (Δ) with respect to the drone body. A capture area (36) of reduced size is extracted from the image formed by this lens (42), the position of this area being function of the signals delivered by an inertial unit measuring the Euler angles characterizing the attitude of the drone with respect to an absolute terrestrial reference system. The position of this area is dynamically modified in a direction (44) opposite to that of the changes of attitude (38) of the drone detected by the inertial unit. The raw pixel data are then processed to compensate for the geometric distortions introduced by the fisheye lens in the image acquired in the region of the capture area.

Description

technical field [0001] The present invention relates to rotary-wing unmanned aerial vehicles such as quadrotor helicopters. Background technique [0002] Rotary-wing UAVs such as quadcopters are already in widespread use. Such drones are provided with a plurality of rotors servo-controlled by corresponding motors which can be controlled in different ways to steer the drone in terms of attitude and speed. [0003] A typical example of this type of drone is Parrot AR. Drone 2.0, a quadrotor helicopter equipped with a series of sensors (accelerometer, three-axis gyroscope, altimeter) , a front-facing camera that captures images of the scene the drone is being directed towards, and a vertical view camera that captures images of the ground it is flying over. [0004] Documents WO2010 / 061099A2 and EP2364757A1 (Garrot AG) describe such drones and their use via a phone or multimedia player (e.g. a cellular phone of the iphone type, or a multimedia tablet device of the iPad type) w...

Claims

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Application Information

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IPC IPC(8): A63H27/133A63H30/04H04N5/232
CPCB64D47/08B64C39/024B64C2201/127G06T1/0007G05D1/0038H04N23/698H04N23/6812H04N23/689H04N23/683B64U2101/30
Inventor P·埃利纳A·丰维埃尔
Owner PARROT
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