UAV video stabilization method and device for low-altitude flight scene

Abstract

The present invention provides a UAV video stabilization method and device for a low-altitude flight scene, wherein the method includes: acquiring the UAV video to be stabilized, extracting feature points from each frame in the video, and connecting to obtain the trajectory of each feature point, The trajectory is divided into long trajectory and short trajectory according to the threshold value. Based on the long trajectory and smooth long trajectory, the global transformation matrix corresponding to each frame of picture can be calculated, combined with the corresponding global transformation matrix, short trajectory and low-pass filter of each frame of picture, it can be obtained Smooth the short trajectory, and finally use the multi-plane optimization method to combine the long trajectory and the short trajectory for calculation to obtain a stable UAV video. The present invention classifies the trajectory of the feature points, while ensuring the stability of the area with sufficient feature points, it also has a stabilizing effect on the area with insufficient feature points, and can solve the edge instability of the multi-plane optimization method in the low-altitude flight scene to a certain extent , thereby improving the stabilization effect of drone videos.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a video stabilization method and device for a drone in a low-altitude flight scene. Background technique [0002] UAV video stabilization technology is mainly to solve the problem of UAV video image jitter caused by atmospheric turbulence, propeller vibration and attitude change. This technology can restore a stable observation field of view through computer graphics transformation only based on the image information in the video shot by the drone, which is of great significance for enhancing the usability of the video shot by the drone. [0003] In the current UAV video stabilization method, it 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 viewing angles of all frames are close to the selected frame, and the transformation matrix can also be smoothed , so as to o...

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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