Control method and apparatus of exposure, and unmanned aerial vehicle

A control method and technology of exposure parameters, applied in the field of control, can solve the problems of target object detection and recognition failure, over-exposure or under-exposure, etc., to eliminate over-exposure or under-exposure phenomenon, accurate depth image, and improve detection success rate. Effect

Inactive Publication Date: 2018-08-14
SZ DJI TECH CO LTD
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Problems solved by technology

However, when the target object is in a high dynamic scene, for example, when a user is wearing white clothes and standing in front of a black curtain, and the user's gesture needs to be recognized, the exposure control method of the depth sensor in the prior art may cause the target object to be overexposed. Or the phenomenon of underexposure, which causes some depth values ​​in the depth image acquired by the depth sensor to become invalid values, which leads to the failure of detection and recognition of the target object

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  • Control method and apparatus of exposure, and unmanned aerial vehicle
  • Control method and apparatus of exposure, and unmanned aerial vehicle
  • Control method and apparatus of exposure, and unmanned aerial vehicle

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[0024] The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0025] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or there can also be an intervening component. When a component is said to be "connected" to another component, it may be directly connected to the other component or there may be intervening components at the same time.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood...

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Abstract

The invention relates to a control method and apparatus of exposure, and an unmanned aerial vehicle. The control method of exposure comprises the steps: acquiring an image output by a depth sensor according to current exposure parameters; determining an image of a target object from the image; and determining first exposure parameter according to the brightness of the image of the target object, wherein the first exposure parameter is used to control next time of automatic exposure of the depth sensor.

Description

technical field [0001] The embodiments of the present invention relate to the field of control, and in particular, to an exposure control method, device and unmanned aerial vehicle. Background technique [0002] At present, it is an important means of target object detection to obtain a depth image through a depth sensor, and use the depth image to identify and track a target object. However, when the target object is in a high dynamic scene, for example, when a user is wearing white clothes and standing in front of a black curtain, and the user's gesture needs to be recognized, the exposure control method of the depth sensor in the prior art may cause the target object to be overexposed. Or the phenomenon of underexposure causes some depth values ​​in the depth image obtained by the depth sensor to become invalid values, which in turn leads to the failure of detection and recognition of the target object. Contents of the invention [0003] Embodiments of the present inve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/20H04N5/235
CPCG06V10/141G06V2201/07H04N23/73B64C39/024H04N23/72H04N23/71B64U2101/30G06T7/557G05D1/0094G05D1/101G05D1/12
Inventor 周游杜劼熹蔡剑钊
Owner SZ DJI TECH CO LTD
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