Unmanned aerial vehicle panoramic vision tracking method, unmanned aerial vehicle and control terminal

Abstract

The present invention discloses an unmanned aerial vehicle panoramic vision tracking method, an unmanned aerial vehicle and a control terminal. The method includes the following steps that: images captured by a plurality of cameras at the same point are obtained; the images captured by the cameras at the same point are spliced into a panoramic image; and the panoramic image which is obtained through splicing every time is sent to the control terminal wirelessly connected with the unmanned aerial vehicle. According to the unmanned aerial vehicle panoramic vision tracking method, the unmanned aerial vehicle and the control terminal provided by the invention, the plurality of cameras are adopted to acquire the images, and the images are spliced to form the panoramic image, and the panoramic image is transmitted to the tracking terminal, so that the panoramic image can be used; and therefore, the 360-degree panoramic image can be obtained, multi-camera panoramic imaging and multi-camera image data fusion are realized, and the full-view angle target tracking of the unmanned aerial vehicle can be realized based on the panoramic image.

Description

technical field [0001] The embodiments of the present invention relate to the field of unmanned aerial vehicles, and in particular, relate to a panoramic vision tracking method for an unmanned aerial vehicle, an unmanned aerial vehicle using the method, and a control terminal. Background technique [0002] At present, with the development of wireless interconnection and image processing technology, the existing transmission technology and image fusion processing technology can already support UAVs to achieve high-resolution image shooting and combine with controllers or mobile terminal applications to achieve visual tracking. [0003] Such as the UAV tracking method disclosed in Chinese Patent Application No. 201511026140.7, which discloses a multi-rotor UAV follow-up path planning and tracking method, setting the relative position parameters between the UAV and the follow-up target , to obtain the position of the current guidance period of the follow-up target, and obtain t...

AI Technical Summary

Problems solved by technology

However, based on single-camera UAV tracking, the field of view of a single camera is limited. Generally, the FOV (Field of View) is about 100 degrees, and the field of view is narrow. As a result, UAVs generally adopt a tracking solution with a field of view lower than or greater than 180 degrees.

For angles of view that are not covered by a single camera, the image is invisible, which limits many drone applications

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