Unmanned aerial vehicle video stabilization method and apparatus in low-altitude flight scene

Abstract

The invention provides an unmanned aerial vehicle video stabilization method and apparatus in a low-altitude flight scene. The method comprises the following steps: obtaining a to-be-stabilized unmanned aerial vehicle video, extracting feature points from each frame in the video, connecting the feature points to obtain tracks of the feature points, dividing the tracks into long tracks and short tracks according to thresholds, calculating a global transformation matrix corresponding to each frame picture based on the long tracks and smooth long tracks, obtaining smooth short tracks in combination with the global transformation matrix corresponding to each frame picture, the short tracks and a low-pass filter, and finally performing calculation by adopting a multi-plane optimization method in combination with the long tracks and the short tracks to obtain a stable unmanned aerial vehicle video. According to the unmanned aerial vehicle video stabilization method and apparatus, the tracks of the feature points are classified, when the stabilization effect of areas with sufficient feature points is ensured, the areas with insufficient feature points is stabilized, therefore the influence caused by the instable edge of the multi-plane optimization method in the low-altitude flight scene can be solved to a certain extent, and thus the stabilization effect of the unmanned aerial vehicle video is improved.

Description

Technical field [0001] The invention relates to the field of communication technology, and in particular to a method and device for stabilizing UAV video in a low-altitude flight scene. Background technique [0002] UAV video stabilization technology is mainly to solve the problem of unmanned aerial vehicle video picture jitter caused by atmospheric turbulence, propeller vibration and attitude change. This technology can restore a stable observation field through computer graphics transformation based only on the image information in the video taken by the drone, which is of great significance to enhancing the usability of the video taken by the drone. [0003] The current UAV video stabilization method is mainly based on estimating the transformation matrix between image sequences, using a certain frame as a reference to compensate all frames, so that the perspective of all frames is close to the selected frame, and the transformation matrix can also be smoothed , So as to get a ...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a UAV video stabilization method and device for low-altitude flight scenes, which are used to solve the problem of poor usability of low-altitude flight scenes in the existing UAV video stabilization technology.

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