Image stabilization method and apparatus, and drone

Abstract

Embodiments of the present invention provide an image stabilizing method and apparatus, and a drone that are applied to the technical field of drones. In the image stabilization method, when a first direction shaft of a holder is further stabilized, a predicted position of a feature point is acquired; and if the predicted position of the feature point is beyond a visual range of an image collection apparatus, a gesture of the image collection apparatus is adjusted by using a gesture adjustment structure fixedly connected with the image collection apparatus, so as to enable the feature point to be within the visual range of the image collection apparatus. An equivalent visual range required in an electronic stabilization system is increased by using the gesture adjustment structure, so that edge deformation caused by use of a fisheye lens with larger visual range is prevented, and the quality of an output image of the image collection apparatus is improved.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicle, in particular, to an image stabilization method, device and unmanned aerial vehicle. Background technique [0002] The existing image stabilization technologies in the UAV field mainly include two types: mechanical stabilization and electronic stabilization. Mechanical stabilization refers to relying on the mechanical gimbal to physically eliminate the shake of the camera to stabilize the output image. The size and quality of the mechanical gimbal are large, which is not suitable for the installation and carrying of small UAVs. Electronic stabilization refers to the combination of inertial measurement system data and image feature point matching, and real-time rotation and zoom-in operations on camera data to achieve stabilization of the output image. The camera used in the electronic stabilization system needs to have a large field of view, and most of them are preferabl...

AI Technical Summary

Problems solved by technology

The camera used in the electronic stabilization system needs to have a large field of view, and most of them are preferably fisheye lenses, and the image edge distortion of fisheye lenses is relatively large, which may easily cause poor quality of the output image

[0003] Therefore, the existing mechanical stabilization or electronic stabilization cannot meet the UAV's small size and high-standard image stabilization requirements at the same time.

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