Method and device for controlling unmanned aerial vehicle to rotate along with face
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A drone and human face technology, applied to unmanned aircraft, motor vehicles, remote control aircraft, etc., can solve problems such as drone crashes and losses
Inactive Publication Date: 2015-12-02
BEIJING ZERO ZERO INFINITY TECH
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During the alignment process, both traditional remote control and mobile remote control need to master remote control technology. ...
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Embodiment 1
[0056] see figure 1 , which is a schematic diagram of Embodiment 1 of the method for controlling the UAV to rotate with the face provided by the present invention.
[0057] The method for controlling the UAV to rotate with the face provided by this embodiment, the camera is set on the UAV, including:
[0058] S101: Detect the face in the image through the Viola-Jones face detection framework;
[0059] It should be noted that the images captured by the camera on the drone include human faces, and the human faces in the images can be detected through the Viola-Jones face detection framework.
[0060] S102: Track the human face, and determine the two-dimensional coordinates of the facial features of the human face in the image;
[0061] S103: Obtain the three-dimensional coordinates of the facial features in the world coordinate system by searching the three-dimensional face standard library; the three-dimensional face standard library is obtained in advance;
[0062] It shoul...
Embodiment 2
[0072] see image 3 , which is a schematic diagram of Embodiment 2 of the method for controlling the UAV to rotate with the face provided by the present invention.
[0073] The method for controlling the UAV to rotate with the face provided in this embodiment, the detection of the human face in the image through the Viola-Jones face detection framework, also includes before:
[0074] S301: Capture various photos including human faces from the Internet as samples;
[0075] S302: Mark the faces in the sample, and intercept the marked faces;
[0076] S303: Perform classification training on the intercepted faces using Haar features to obtain a face detection model.
[0077] It should be noted that although the Viola-Jones face detection framework is the prior art, the present invention improves the face detection model used by the Viola-Jones face detection framework. The present invention captures a large number of photos including human faces from the Internet as samples. M...
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Abstract
The invention provides a method and device for controlling an unmanned aerial vehicle to rotate along with the face. A camera is arranged on the unmanned aerial vehicle. The method includes the steps that the face in an image is detected through a Viola-Jones face detection framework; the face is tracked, and two-dimensional coordinates of the five sense organs of the face in the image are determined; a three-dimensional face standard library is searched for three-dimensional coordinates of the five sense organs of the face in a world coordinate system; the three-dimensional face standard library is obtained in advance; three-dimensional coordinates of the face relative to the camera on the unmanned aerial vehicle are obtained according to the two-dimensional coordinates of the five sense organs of the face in the image and the three-dimensional coordinates of the five sense organs of the face in the world coordinate system; the unmanned aerial vehicle is controlled for position adjustment to enable the camera to be aligned with the face through the three-dimensional coordinates of the face relative to the camera of the unmanned aerial vehicle. When the unmanned aerial vehicle tracks a user to take pictures or record videos, the unmanned aerial vehicle can move along with rotation of the face, and it is guaranteed that a camera lens of the camera on the unmanned aerial vehicle is always aligned with the face of the user.
Description
technical field [0001] The invention relates to the technical field of UAV control, in particular to a method and device for controlling UAV to rotate with the face. Background technique [0002] In the prior art, the control methods of UAVs are mainly traditional remote control and mobile phone remote control. The traditional remote control is realized by controlling the remote control joystick in the four directions of up, down, left, and right by the left and right hands. Mobile phone remote control is generally implemented by transplanting the left and right hand remote control joysticks of the traditional remote control to the mobile phone. [0003] In the prior art, drones are often used for shooting or video recording, but during the shooting or recording process, people’s faces often rotate. In order to shoot people’s frontal faces, it is necessary to remotely control the position of the drone in real time so that the camera on the drone is aligned human face. Dur...
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