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Electronic device and method for estimating a displacement of a scene observed by a drone, electronic apparatus for calculating ground speed of the drone

An electronic device, unmanned aerial vehicle technology, applied in the field of remote driving flying maneuvering equipment, displacement of the scene observed by image sensor, computer readable medium, rotary wing drone, electronic equipment, electronic device, ground speed electronic equipment , to reduce the complexity of the algorithm

Inactive Publication Date: 2019-02-01
派诺特无人机
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0014] However, such estimates are not always optimal

Method used

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  • Electronic device and method for estimating a displacement of a scene observed by a drone, electronic apparatus for calculating ground speed of the drone
  • Electronic device and method for estimating a displacement of a scene observed by a drone, electronic apparatus for calculating ground speed of the drone
  • Electronic device and method for estimating a displacement of a scene observed by a drone, electronic apparatus for calculating ground speed of the drone

Examples

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Embodiment Construction

[0049] exist figure 1 10, an unmanned aerial vehicle 10 (i.e., an aircraft without a pilot on board) includes an image sensor 12 configured to capture a series of images of a scene 14 (e.g., the terrain over which the unmanned aerial vehicle 10 is flying); and an electronic computing device 16 configured to For calculating the ground speed of UAV 10.

[0050] The UAV 10 also includes an altimeter 20 (such as a radio altimeter or ultrasonic telemetry) which emits a beam 22 towards the ground, enabling it to measure the altitude of the UAV 10 relative to the terrain, ie relative to the ground.

[0051] As an optional addition, the UAV 10 includes a pressure sensor (not shown), also known as a barometric pressure sensor, configured to determine changes in the altitude of the UAV 10, e.g. instantaneously and / or relative to a reference plane (i.e. a change from a predetermined initial height). For example the reference plane is sea level, then the pressure sensor can provide a me...

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Abstract

A electronic device (40) for estimating a displacement of a scene observed by an image sensor (12) equipping a drone (10) comprises a first module for acquiring a series of images of the scene, takenby the image sensor, and a module (44) for estimating, via an optical flow algorithm applied iteratively at several successive levels, a displacement of the scene between an acquired prior image and current image, the level of the image being a sub-sampled image of the image of the following level, the final level being the acquired image. The estimating module (44) calculates at least one estimate of the displacement of the scene at each level, the prior image being translated by an estimated displacement, during the passage from one level to the next. The estimating module (44) is further configured to determine integer rounding of the estimated displacement, the prior image then being translated by the rounded displacement, during the passage from one respective level to the next.

Description

technical field [0001] The invention includes an electronic device for estimating the displacement of a scene observed by an image sensor equipped on a drone. The estimating device includes: a first acquisition module configured to acquire a series of images of the scene captured by the image sensor; and an estimation module configured to calculate an estimate of the displacement of the scene between the previously acquired image and the currently acquired image through an optical flow algorithm. [0002] The present invention also relates to an electronic device for calculating the ground speed of a drone, the device comprising: a second acquisition module configured to acquire a measured height, and the estimating device is configured to estimate the displacement of the terrain the drone flies over; and A calculation module configured to calculate the ground speed of the drone according to the obtained measured height and the estimated terrain displacement. [0003] The inv...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/08G01P3/68
CPCG01C11/08G01P3/68G06T2207/20016G06T7/207G06T2207/10032G01P3/38G06T7/246
Inventor F·勒蒙
Owner 派诺特无人机