Image stabilization method, device and unmanned aerial vehicle

Abstract

The image stabilization method, device and drone provided by the embodiments of the present invention are applied in the technical field of drones. In the provided image stabilization method, when the first direction axis of the gimbal is stabilized, the predicted position of the feature point is obtained. If the predicted position of the feature point is outside the visual range of the image capture device, adjust the posture of the image capture device through a posture adjustment structure fixedly connected to the image capture device, so that the feature point is located in the image within the visible range of the collection device. The equivalent visual range required in the electronic stabilization system is increased through the attitude adjustment structure, which avoids edge distortion caused by using a fisheye lens with a large visual range, and improves the quality of the output image of the image acquisition device .

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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