Unmanned aerial vehicle shooting distance semi-automatic optimization method based on image information entropy

A technology of shooting distance and image information, applied in non-electric variable control, instruments, control/regulation systems, etc., can solve problems such as optimal shooting distance without bridge targets

Active Publication Date: 2021-09-14
CHINA-SINGAPORE INT JOINT RES INST
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Problems solved by technology

However, there is currently no method for the optimal shooting distance of the bridge target, ...

Method used

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  • Unmanned aerial vehicle shooting distance semi-automatic optimization method based on image information entropy
  • Unmanned aerial vehicle shooting distance semi-automatic optimization method based on image information entropy
  • Unmanned aerial vehicle shooting distance semi-automatic optimization method based on image information entropy

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Embodiment

[0027] Such as figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 As shown, this embodiment discloses a semi-automatic optimization method for shooting distance of unmanned aerial vehicles based on image information entropy. The method includes the following steps:

[0028] S1. Shoot target images of bridge towers at different distances through the camera on the drone. While shooting the target images of bridge towers, use the laser ranging module on the drone to record the distance from the shooting point to the target. figure 2 (a1), figure 2 (b1), figure 2 (c1) is an example of the original picture at different shooting distances of 50.31m, 115.36m, and 145.65m; Figure 4 (a1), Figure 4 (b1), Figure 4 (c1) is an example of the original picture at different shooting distances of 85.65m, 317.34m, and 450.61m.

[0029] In step S1, different shooting points should be kept on the same straight line as much as possible.

[0030] S2. Calculate the optimal dis...

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Abstract

The invention discloses an unmanned aerial vehicle shooting distance semi-automatic optimization method based on image information entropy. According to the method, the optimal shooting distance can be semi-automatically planned for an unmanned aerial vehicle which cannot zoom or a scene which requires a fixed focal length, and the most abundant visual information can be obtained by shooting a minimum number of images, so that the aerial photography efficiency of the unmanned aerial vehicle is improved. The specific process is as follows: firstly, an unmanned aerial vehicle shoots a group of images of a target at different distances at the same angle; meanwhile, a laser ranging module on the unmanned aerial vehicle obtains the distances between different shooting points and the target; and finally, the information entropy of the images is calculated, a function of the information entropy about the shooting distance is fitted, and the distance enabling the information entropy to be maximum is taken as the optimal shooting distance of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle shooting, in particular to a semi-automatic optimization method for unmanned aerial vehicle shooting distance based on image information entropy. Background technique [0002] In the scene where the drone is used to shoot the bridge tower, the shooting distance of the drone should neither be too small nor too large. Because, if the distance is too small, the airflow disturbance above the bridge will cause the UAV to deviate from the course; if the distance is too large, the image resolution of the shooting target will be too low. In addition, in some consumer drones equipped with non-zoom cameras, and in scenarios where images are used to generate point clouds in the field of multi-eye vision, the shooting distance of drones is also limited by the fixed focal length. At this time, the shooting distance of the UAV is selected by the user according to his own shooting experience. H...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/106
Inventor 苏成邓逸川潘灶林郑淳
Owner CHINA-SINGAPORE INT JOINT RES INST
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