Control method for automatic photographing during image acquisition of unmanned aerial vehicle
An automatic photographing and image acquisition technology, applied in the field of drones, can solve problems such as single reference factors and inaccurate photographing control
Pending Publication Date: 2021-10-22
北京晟天行科技有限公司
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Problems solved by technology
[0005] In order to solve the problems of single reference factors and inaccurate photo control when UAVs take pictures, the present invention claims a control method for automatic photo taking when UAV images are collected
Method used
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Embodiment 1
[0042] Specifically, refer to the attached figure 2 , Embodiment 1 of a control method for automatically taking pictures when the UAV image is collected according to the present invention, the S1: Acquire the collected image of the UAV flying over the multi-terrain, specifically including:
[0043] S11. Perform image preprocessing, establish a noise model, complete spatial domain filtering and frequency domain filtering, and use Gaussian low-pass filtering plus median filtering;
[0044] S12. Using the Lucy-Richardision algorithm to perform global motion blur and local motion blur elimination;
[0045] S13. Using the improved K-means clustering method to re-cluster the real frame to obtain an anchor frame more suitable for the current data set;
[0046]S14. Adjust the structure of the convolutional layer, based on the sensitivity analysis of the L1 norm, and tailor it according to the analysis result.
[0047] Gaussian low-pass filtering is performed in the Fourier frequenc...
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The invention relates to a control method for automatic photographing during unmanned aerial vehicle image acquisition, which is used for controlling photographing when an unmanned aerial vehicle flies over multiple terrains. The method comprises the following steps: acquiring an acquired image when the unmanned aerial vehicle flies over the multiple terrains; identifying and detecting the acquired images when the unmanned aerial vehicle flies over the plurality of terrains, further acquiring data of a plurality of types of sensors mounted on the unmanned aerial vehicle, and performing comparative analysis based on an identification and detection result and the sensor data to control the photographing angle of the unmanned aerial vehicle. According to the control method for automatic photographing during unmanned aerial vehicle image acquisition, the problem of inaccurate image precision identification during current unmanned aerial vehicle photographing control is avoided, the problem that the dependence factor is single and the environmental factor cannot be comprehensively analyzed during current photographing control is solved, and the image and environmental factors are integrated, and adaptive change photographing control is performed based on the specific condition of the current terrain environment, so that the flexibility and reliability of unmanned aerial vehicle control are improved.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method for automatically taking pictures during image collection of unmanned aerial vehicles. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and its own program control device. There is no cockpit on board, but it is equipped with autopilot, program control device, signal acquisition device and other equipment. The personnel on the ground, on the ship, or at the remote control station of the parent aircraft track, locate, remotely control, telemeter and digitally transmit it through radar and other equipment. Under the radio control, it can take off like an ordinary aircraft or be launched into the air with a booster rocket, and it can also be taken into the air by the parent aircraft for flight. In the prior art, image tracking technology already exists in un...
Claims
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Patent Timeline
Login to View More IPC IPC(8): G06K9/20G06K9/00G06K9/62G06K9/40G06N3/04G06N3/08
CPCG06N3/082G06N3/045G06F18/23213
Inventor 王佩李帅
Owner 北京晟天行科技有限公司