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Problems solved by technology
[0003] The existing technology uses binocular cameras to obtain stereoscopic images. Under the trade-off between image resolution and object distance accuracy, the inevitable result is that the distance between binocular cameras is relatively large
However, due to the limitation of the position of the small UAV, the application of the binocular camera is very limited.
In the industry, large-scale drones are mostly used for related surveying and mapping, which is costly and not conducive to promotion
Method used
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Embodiment 1
[0032] Embodiment 1 of the present invention provides a stereoscopic imaging method based on a drone. figure 2 It is a flow chart of the stereoscopic imaging method based on the drone provided by the embodiment of the present invention. Such as figure 2 As shown, the stereoscopic imaging method based on unmanned aerial vehicle may comprise the steps:
[0033] Step S201: Obtain at least two target images of the target object from different positions by the UAV 100, wherein the target object in the at least two target images at least partially overlap;
[0034]Optionally, the at least two target images may include two or more. Preferably, the drone 100 acquires two target images of the target object from different positions.
[0035] In this embodiment, the UAV 100 acquires two target images of the target object from different positions, and the specific implementation methods may include the following two types:
[0036] The first
[0037] combine image 3 and Figure 4...
Embodiment 2
[0062] combine Figure 6 and Figure 7 , Embodiment 2 of the present invention provides a stereoscopic imaging device based on a drone, the device may include a drone 100 and a processor 200 (for example, a single-core or multi-core processor), the processor 200 and the The drone 100 is connected in communication.
[0063] The processor 200 may be a central processing unit (central processing unit, CPU). The processor 200 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (application-specific integrated circuit, ASIC), a programmable logic device (programmable logic device, PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (field-programmable gate array, FPGA), a general array logic (generic array logic, GAL) or any combination thereof.
[0064] The processor 200 may include one or m...
Embodiment 3
[0093] Embodiment 3 of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor in the steps of the UAV-based stereoscopic imaging method described in Embodiment 1 above.
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Abstract
The invention provides a three-dimensional imaging method and device based on unmanned aerial vehicles and a computer readable storage medium, wherein the number of the unmanned aerial vehicles is not less than two. The method comprises the steps: controlling one of the two unmanned aerial vehicles to be located at a first position, and controlling the other unmanned aerial vehicle to be located at a second position; acquiring target images of target objects shot by the two unmanned aerial vehicles at the respective positions, wherein the target objects in the target images of the target objects shot by the two unmanned aerial vehicles at the respective positions at least partially coincide; and generating a three-dimensional image of the target object according to the target images of the target object shot by the two unmanned aerial vehicles at the respective positions. According to the invention, two unmanned aerial vehicles are used for replacing two cameras in a binocular camera, and two target images of the target object are obtained from different positions, thereby obtaining a three-dimensional image of the target object, increasing the distance between phase collection points in a low-cost manner, reducing the demands for imaging resolution, and improving the three-dimensional reconstruction precision.
Description
technical field [0001] The present invention relates to the imaging field, in particular to a drone-based stereoscopic imaging method and device, and a computer-readable storage medium. Background technique [0002] Stereoscopic vision is achieved through the difference in the position of the phase collection point. For example, there is a certain distance between the left and right eyes of a person, and there are subtle differences between the formed phases, so the distance of the object can be judged. The distance between the phase collection points is called the baseline. The farther the baseline is, the easier it is to obtain stereo vision, or the more obvious the stereo vision obtained. [0003] In the prior art, binocular cameras are used to obtain stereoscopic images. Under the trade-off between image resolution and object distance accuracy, the inevitable result is that the distance between the binocular cameras is relatively large. Due to the limitation of the posi...
Claims
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