Photographing method, device, computer readable storage medium and terminal equipment

Abstract

The photographing method provided in the embodiments of the present application comprises: acquiring position information of a photographed object; planning a first surrounding flight path and a second surrounding flight path for surrounding photographing of the photographed object based on the position information; wherein the first surrounding flight path comprises a plurality of waypoints, the plurality of waypoints are distributed in different directions of the photographed object, have substantially the same distance from the photographed object, and are substantially located at the same height; the second surrounding flight path comprises a plurality of vertical flight path segments, the plurality of vertical flight path segments are distributed in different directions of the photographed object; and the unmanned aerial vehicle is controlled to move along the first surrounding flight path and the second surrounding flight path respectively, and photograph the photographed object in the moving process to acquire a plurality of images of the photographed object, the plurality of images being used to establish a three-dimensional model of the photographed object. The method provided in the embodiments of the present application can reduce the time required for photographing images by the unmanned aerial vehicle when three-dimensional reconstruction is performed.

Description

Technical Field

[0001] This application relates to the field of image capture technology, and in particular to a capture method, a capture device, a computer-readable storage medium, and a terminal device. Background Technology

[0002] 3D reconstruction technology based on UAV imagery is increasingly being used for detailed modeling of objects such as cultural relics, power towers, signal towers, and bridges. When using UAVs for modeling, the drone can be controlled to fly along a planned route and capture images of the subject during flight. These images can then be used to create a 3D model of the subject. Currently, however, capturing images with UAVs is time-consuming, and operational efficiency still needs improvement. Summary of the Invention

[0003] In view of this, embodiments of this application provide a shooting method, a shooting device, a computer-readable storage medium, and a terminal device, one of the purposes of which is to reduce the time required for drones to capture images during 3D reconstruction.

[0004] The first aspect of this application provides a shooting method, including:

[0005] Obtain the location information of the subject;

[0006] Based on the location information, a first and a second circumferential route are planned for circumferential shooting of the subject.

[0007] The first circling route includes multiple waypoints, which are distributed in different directions of the subject, at approximately the same distance from the subject, and at approximately the same altitude. The first circling route is used to guide the drone to move around the subject on a horizontal plane.

[0008] The second circumferential route includes multiple vertical route segments, which are distributed in different directions of the subject. Each vertical route segment is used to guide the drone to move upward or downward in the height direction.

[0009] The drone is controlled to move along the first and second circling routes respectively, and to take pictures of the subject during the movement to obtain multiple images of the subject. The multiple images are used to build a three-dimensional model of the subject.

[0010] A second aspect of this application provides a shooting device, including: a processor and a memory storing a computer program, wherein the processor executes the computer program to perform the following steps:

[0011] Obtain the location information of the subject;

[0012] Based on the location information, a first and a second circumferential route are planned for circumferential shooting of the subject.

[0013] The first circling route includes multiple waypoints, which are distributed in different directions of the subject, at approximately the same distance from the subject, and at approximately the same altitude. The first circling route is used to guide the drone to move around the subject on a horizontal plane.

[0014] The second circumferential route includes multiple vertical route segments, which are distributed in different directions of the subject. Each vertical route segment is used to guide the drone to move upward or downward in the height direction.

[0015] The drone is controlled to move along the first and second circling routes respectively, and to take pictures of the subject during the movement to obtain multiple images of the subject. The multiple images are used to build a three-dimensional model of the subject.

[0016] A third aspect of this application provides a terminal device, including:

[0017] The communication module is used to establish a connection with the drone;

[0018] A processor and a memory storing a computer program, the processor executing the computer program to perform the following steps:

[0019] Obtain the location information of the subject;

[0020] Based on the location information, a first and a second circumferential route are planned for circumferential shooting of the subject.

[0021] The first circling route includes multiple waypoints, which are distributed in different directions of the subject, at approximately the same distance from the subject, and at approximately the same altitude. The first circling route is used to guide the drone to move around the subject on a horizontal plane.

[0022] The second circumferential route includes multiple vertical route segments, which are distributed in different directions of the subject. Each vertical route segment is used to guide the drone to move upward or downward in the height direction.

[0023] The drone is controlled to move along the first and second circling routes respectively, and to take pictures of the subject during the movement to obtain multiple images of the subject. The multiple images are used to build a three-dimensional model of the subject.

[0024] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the shooting method provided in this application.

[0025] The shooting method provided in this application embodiment plans a first circling route and a second circling route. The drone can capture images of the subject from various directions via the first circling route, and can capture images of the subject at multiple different heights in a specific direction via the vertical flight path. Since the scene covered by the images captured by the drone on the first circling route includes the scene covered by the images captured by the drone on the vertical flight path, the images captured by the drone on the vertical flight path can be well matched with the images captured by the drone on the first circling route, satisfying the overlap requirements. Therefore, the image overlap requirement between vertical flight path segments can be greatly reduced, eliminating the need to plan dense vertical flight path segments, reducing the time spent on drone shooting, and improving operational efficiency. Furthermore, since the distribution of vertical flight path segments can be relatively sparse, it can adapt to more complex scenes, greatly improving scene adaptability. In addition, because two circling routes are used for shooting, the coverage of the subject is more comprehensive, avoiding the existence of shooting blind spots. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart of the shooting method provided in the embodiments of this application.

[0028] Figure 2 This is a schematic diagram of an exemplary first circumferential route provided in an embodiment of this application.

[0029] Figure 3 This is a schematic diagram of an exemplary second circumferential route provided in an embodiment of this application.

[0030] Figure 4 This is a schematic diagram of the route when only the first loop route is planned, as provided in the embodiments of this application.

[0031] Figure 5 This is a schematic diagram of a route including a first circular route and a second circular route, provided in an embodiment of this application.

[0032] Figure 6 yes Figure 5 The corresponding top view.

[0033] Figure 7 This is a schematic diagram of the interactive interface provided in the embodiments of this application. Figure 1 .

[0034] Figure 8 This is a schematic diagram of the interactive interface provided in the embodiments of this application. Figure 2 .

[0035] Figure 9 This is a schematic diagram of the imaging device provided in the embodiments of this application.

[0036] Figure 10 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] 3D reconstruction technology based on UAV imagery is increasingly being used for detailed modeling of objects such as cultural relics, power towers, signal towers, and bridges. When using UAVs for modeling, the drone can be controlled to fly along a planned route and capture images of the subject during flight. These images can then be used to create a 3D model of the subject. Currently, however, capturing images with UAVs is time-consuming, and operational efficiency still needs improvement.

[0039] This application provides a shooting method, which can be referred to. Figure 1 , Figure 1 This is a flowchart of the shooting method provided in the embodiments of this application, the method including:

[0040] S102. Obtain the location information of the subject.

[0041] S104. Based on the location information, plan a first and a second circumnavigation route for taking pictures of the subject.

[0042] S106. Control the drone to move along the first and second circling routes respectively, and take pictures of the subject during the movement to obtain multiple images of the subject.

[0043] The location information of the subject can indicate its position. In one example, the location information of the subject can be the geometric coordinates of its location. In one implementation, the location information of the subject can be input or selected by the user. In another implementation, the location information of the subject can be obtained by a drone through sensors, such as radar, which can detect and acquire the location information of the subject; or the drone can acquire the location information of the subject through visual positioning.

[0044] Based on the location information of the subject, a first and a second circumnavigation route can be planned. Here, the first and second circumnavigation routes can be used to perform circumnavigation photography of the subject.

[0045] The first circumnavigation route can include multiple waypoints, which can be distributed in different directions from the subject. These waypoints can be approximately equidistant from the subject and at roughly the same altitude. (See reference...) Figure 2 , Figure 2 This is a schematic diagram of an exemplary first circling route provided in an embodiment of this application. In one example, the first circling route can also be referred to as a horizontal circling route. When the drone is controlled to move along the first circling route, the drone can move around the subject on a horizontal plane at a certain height.

[0046] The second circumferential route can include multiple vertical line segments, which can be distributed in different directions from the subject. Each vertical line segment can include multiple waypoints at different altitudes, whose projected positions on the horizontal plane can be approximately the same. (See reference...) Figure 3 , Figure 3 This is a schematic diagram of an exemplary second circumferential route provided in an embodiment of this application. In one example, the second circumferential route can also be referred to as a vertical circumferential route. When controlling the UAV to move along the second circumferential route, the UAV can move along each vertical route segment separately. Specifically, when the UAV moves along a vertical route segment, it can move upward or downward in the height direction.

[0047] As the drone moves along a first or second circular route, in one implementation, the drone can capture one or more images at preset time intervals; in another implementation, the drone can capture one or more images at preset angles or distances. Specifically, the shooting interval can be set according to the camera's imaging range and the required image overlap. In one example, the images captured by the drone along the first circular route can completely cover the surface of the subject from all directions. It is understood that the drone's shooting points along the route may or may not coincide with waypoints on the route.

[0048] Multiple images captured by a drone can be used to create a 3D model of the subject. Various algorithms can be used to create this model; for example, multi-view geometry algorithms can be used to create a 3D point cloud model of the subject. The 3D model of the subject can also be various types of models, such as point cloud models or mesh models.

[0049] When taking images of a subject using a drone, in one implementation, only one circumferential route can be planned, such as only a first circumferential route or only a second circumferential route.

[0050] When planning only the first loop route, in order to ensure that the captured images cover the entire subject, multiple first loop routes at different altitudes need to be planned. See reference... Figure 4 , Figure 4 This is a schematic diagram of the flight path when only the first loop route is planned, as provided in an embodiment of this application. Because 3D modeling requires a certain degree of overlap between images, the spacing between multiple first loop routes cannot be too large to ensure successful image matching between the routes. When the drone is performing a shooting task, after completing the shooting of one first loop route, the drone can ascend or descend to the horizontal plane of another first loop route to continue shooting that other first loop route, repeating this process until all first loop routes have been shot.

[0051] When planning only the second loop route, in order to ensure that the captured images cover the entire subject, the planned second loop route needs to include dense vertical line segments. See reference [for further information]. Figure 3 To ensure that the image overlap between vertical flight line segments meets the requirements, the spacing between vertical flight line segments cannot be too large, which results in the need to plan a large number of vertical flight line segments.

[0052] Whether only a first or second loop route is planned, the spacing between routes or segments cannot be too large to ensure sufficient image overlap. Otherwise, an excessive number of routes or segments will require the drone to spend a significant amount of time photographing each route or segment individually, resulting in low shooting efficiency. Furthermore, the dense planning of routes or segments necessitates a relatively open environment around the subject, making it unsuitable for scenarios with obstacles nearby, such as power line towers surrounded by multiple power lines.

[0053] The shooting method provided in this application embodiment plans a first circling route and a second circling route. The drone can capture images of the subject from various directions via the first circling route, and can capture images of the subject at multiple different heights in a specific direction via the vertical flight path. Since the scene covered by the images captured by the drone on the first circling route includes the scene covered by the images captured by the drone on the vertical flight path, the images captured by the drone on the vertical flight path can be well matched with the images captured by the drone on the first circling route, satisfying the overlap requirements. Therefore, the image overlap requirement between vertical flight path segments can be greatly reduced, eliminating the need to plan dense vertical flight path segments, reducing the time spent on drone shooting, and improving operational efficiency. Furthermore, since the distribution of vertical flight path segments can be relatively sparse, it can adapt to more complex scenes, greatly improving scene adaptability. In addition, because two circling routes are used for shooting, the coverage of the subject is more comprehensive, avoiding the existence of shooting blind spots.

[0054] In one implementation, multiple first orbital paths can be planned based on the location information of the subject, and the different first orbital paths can correspond to different altitudes. Understandably, since the images captured by the drone while moving along the vertical flight path segment can already cover the surface of the subject at different heights, it is not necessary to plan a large number of first orbital paths. The intervals between multiple first orbital paths can be large, providing strong adaptability to complex scenes. In one example, the overlap (lateral overlap) between images captured by the drone on different first orbital paths can be around 40%. In another example, images captured by the drone on the same first orbital path can maintain a high overlap (heading overlap), for example, greater than or equal to 80%.

[0055] In one implementation, the first circling route can be used for long-distance photography of the subject, meaning the shooting distance of the first circling route can be relatively far. When the drone moves along the first circling route, it can photograph the subject from a relatively far position relative to it, thus the resulting images can relatively completely cover the subject and its surrounding scene. In one example, each image taken by the drone along the first circling route can cover more than 20% of the scene.

[0056] In planning the first circling route, in one implementation, the shooting distance of the first circling route can be determined based on the size information of the subject, that is, the distance between the waypoints on the first circling route and the subject. The size information of the subject can be matched with a three-dimensional shape abstracted from the subject. For example, if the subject is abstracted into a cuboid, the size information can include the length, width, and height of the subject; if the subject is abstracted into a cylinder, the size information can include the height and the radius of the base. In one example, the size information of the subject can be input by the user; in another example, it can be measured by the drone through visual measurement or other methods.

[0057] After determining the size information of the subject, in one implementation, the size information of the subject can be converted into the distance between the waypoint on the first orbital flight path and the subject using a preset calculation formula. For example, if the subject is abstracted as a cube with a side length of 1 meter, the preset calculation formula could be N times the side length. Then, the distance between the waypoint on the first orbital flight path and the subject could be N meters. This means that the proportion of the scene covered by the image taken when the drone is N meters away from the subject is considered to be appropriate (at least greater than or equal to 20%).

[0058] In one implementation, the waypoints on the first circumnavigation route may be at an altitude higher than the height of the subject. If multiple first circumnavigation routes are planned, at least one of these routes may include a waypoint at an altitude higher than the height of the subject. In one implementation, the altitude of the waypoints on the first circumnavigation route can be determined based on the height of the subject. In one example, the altitude of the waypoints on the first circumnavigation route can be determined directly as M times the height of the subject.

[0059] In one implementation, the second circling flight path can be used for mid-range shooting of the subject; that is, the shooting distance of the second circling flight path can be less than that of the first circling flight path, or in other words, the distance between the waypoints on the second circling flight path and the subject can be less than the distance between the waypoints on the first circling flight path and the subject. As mentioned earlier, since the images captured by the UAV on the vertical flight path segment can match well with the images captured by the UAV on the first circling flight path, the image overlap between the vertical flight path segments does not need to be too high. In one example, the image overlap between the vertical flight path segments can be less than or equal to 40%. The maximum and minimum heights of the vertical flight path segments can be determined according to actual needs.

[0060] You can refer to this. Figure 5 and Figure 6 , Figure 5 This is a schematic diagram of a route including a first circular route and a second circular route, provided in an embodiment of this application. Figure 6 yes Figure 5 A top view. Understandably, since the distance between waypoints on the first circumnavigation route and the subject is different from the distance between waypoints on the second circumnavigation route and the subject, the projected positions of waypoints on the horizontal plane on the first circumnavigation route and the projected positions of the vertical line segments on the horizontal plane on the second circumnavigation route may be different.

[0061] In one example, the distance between waypoints and the subject on the first or second circumnavigation route described in this application embodiment may refer to the horizontal distance between the waypoints and the subject.

[0062] When using a drone to capture images of a subject, in one implementation, a first circling route can be planned first. The drone is then controlled to move along the planned first circling route and capture images. After the drone completes the capturing task corresponding to the first circling route, a second circling route is planned, and the drone is controlled to perform the capturing task corresponding to the second circling route. Here, when planning the second circling route, in one implementation, the projection position of the vertical route segment on the horizontal plane can be determined based on the spatial position of a point on the surface of the subject. In another implementation, the second circling route can be planned based on the position information of the subject and multiple images captured by the drone along the first circling route. For ease of distinction, the images captured by the drone along the first circling route are referred to as first images. The distance between the waypoints on the second circling route and the subject can be determined based on the multiple first images captured by the drone while moving along the first circling route.

[0063] When determining the distance between waypoints and the subject on the second circling route based on multiple first images, in one embodiment, the drone can be controlled to maintain a first test distance from the subject. This first test distance can be any distance smaller than the distance between the waypoints and the subject on the first circling route. The drone can be controlled to take pictures of the subject at the first test distance to obtain a first test image. The first test image can be matched with multiple first images taken by the drone while moving along the first circling route. If the first similarity obtained by the matching does not meet the conditions, the first test distance can be adjusted. If the first similarity obtained by the matching meets the conditions, the adjusted first test distance can be determined as the distance between the waypoints and the subject on the second circling route. Here, in one embodiment, the first similarity obtained by the matching can be the highest similarity obtained after performing similarity matching between the first test image and multiple first images respectively.

[0064] As mentioned earlier, the shooting distance of the second circumnavigation route can be less than that of the first circumnavigation route. The first test distance, as an attempt at the shooting distance of the second circumnavigation route, can be less than that of the first circumnavigation route, that is, it can be less than the distance between the waypoint and the subject on the first circumnavigation route.

[0065] It's important to note that images captured by the drone along the second orbital path need to meet a certain degree of similarity with those captured along the first orbital path. This ensures good matching during 3D reconstruction and prevents image inconsistencies. However, the similarity shouldn't be too high. Higher similarity means the shooting distances along the second and first orbital paths are closer, limiting the improvement in model accuracy from the second image and potentially leading to an inaccurate model. Alternatively, achieving the required model accuracy might require planning more routes for different shooting distances, significantly increasing the drone's workload and reducing efficiency.

[0066] To address the aforementioned issues, in one implementation, after performing similarity matching between the first test image and multiple first images, if the resulting first similarity is less than a lower similarity limit, the first test distance can be increased to bring the shooting distance of the second circling route closer to that of the first circling route, ensuring that images captured by the UAV on the second circling route can be connected to those captured on the first circling route. In another implementation, if the resulting first similarity is greater than a higher similarity limit, it means that the shooting distance of the second circling route is too close to that of the first circling route. In this case, the first test distance can be reduced so that images captured by the UAV on the second circling route can contribute more to improving the model's accuracy.

[0067] Considering the large number of images captured by the UAV along the first circular route, performing similarity matching between the first test image and each of the first images would consume significant computational resources and reduce computational efficiency. Therefore, in one implementation, camera pose information corresponding to the first test image can be obtained. Multiple first images can be filtered based on this camera pose information to select the first image whose camera pose information matches that of the first test image. The first test image can then be matched with the selected first image for similarity matching. Here, the camera pose information can be information carried by the first test image. In one example, the camera pose information can be measured by the inertial measurement unit on the UAV or camera. Since matching the camera pose information of two images means that the shooting angles of the two images are approximately the same, the similarity between the images is high. Therefore, the first test image can be matched with the selected first image for similarity matching, thereby improving matching efficiency. In another implementation, an image retrieval algorithm can also be used to filter multiple first images, thereby selecting a smaller number or a single first image for similarity matching with the first test image.

[0068] In one implementation, when a user controls a drone to photograph a target at a first test distance, if the matching result between the captured first test image and the first image does not meet the conditions—for example, if the first similarity is greater than the upper similarity limit or less than the lower similarity limit—then the corresponding matching result can be fed back to the user to guide the user in adjusting the first test distance. (See reference...) Figure 7 and Figure 8 In one example, if the matching result does not meet the conditions, information indicating that the current first test distance is unsuitable can be displayed on the terminal's display screen, such as... Figure 7 If the BAD in the test case matches the conditions, information indicating the appropriate first test distance can be displayed on the terminal's screen, such as... Figure 8 GOOD in the middle.

[0069] There are several ways to perform similarity matching between the first test image and the first image. In one implementation, features can be extracted from both the first test image and the first image. The extracted features can be a high-dimensional feature vector. The similarity between the first test image and the first image can then be calculated using the feature vectors corresponding to the first test image and the first image. For example, the similarity can be the angle between the feature vectors of the first test image and the first image, or it can be the distance between the feature vectors of the first test image and the first image.

[0070] As mentioned earlier, the first circling flight path can be used for long-distance photography of the subject, and the second circling flight path can be used for medium-distance photography of the subject. However, in some high-precision modeling tasks, the models built using images taken at long and medium distances still cannot meet the accuracy requirements. For example, in the modeling task of a signal tower, the user requires a high level of accuracy for the model of the antenna on the signal tower. To address this issue, in one implementation, a region of interest (ROI) on the surface of the subject selected by the user can be obtained, and a third flight path can be planned based on this ROI. The UAV is then controlled to move along the third flight path and take multiple close-up images of the subject during the movement. For ease of distinction, images taken by the UAV along the second circling flight path can be called the second image, and images taken by the UAV along the third flight path can be called the third image. Therefore, during 3D reconstruction, the images that can be used include the first image at a distance, the second image at a medium distance, and the third image at a close distance. The smooth transition of shooting distance can ensure the connection between images, enabling the model to be successfully built. Moreover, the built model has sufficient accuracy in the region of interest to meet the user's needs. In addition, due to reasonable flight path planning, the overlap requirement between images of the same flight path is reduced, which can greatly reduce the number of images to be taken and greatly improve the modeling speed.

[0071] In one implementation, the region of interest (ROI) on the surface of the subject can be selected by the user from images of the subject that have already been captured. These images may include the first and second images, as well as a currently captured preview image. In another implementation, an initial model of the subject can be established using images of the subject already captured (e.g., the first and second images), and the ROI on the surface of the subject can be selected by the user on this initial model.

[0072] When planning a third route based on a selected region of interest, in one implementation, multiple waypoints can be planned at a preset distance from the surface of the region of interest of the subject, and a third route can be planned based on the planned waypoints. In one example, the planned waypoints can be relatively evenly distributed on the region of interest of the subject, spaced from the surface of the subject at the preset distance.

[0073] When planning a third flight path based on a selected region of interest, in one implementation, the shooting distance corresponding to the third flight path can be determined based on multiple second images taken by the UAV while moving along the second circling flight path; that is, the distance between the waypoints on the third flight path and the subject. Specifically, the UAV can be controlled to maintain a second test distance from the subject and take pictures of the subject to obtain a second test image. Since the third flight path is used for close-up shooting of the region of interest, the second test distance can be any distance less than the distance between the waypoints on the second circling flight path and the subject.

[0074] After capturing the second test image at the second test distance, the second test image can be compared with multiple second images for similarity, and the second test distance can be adjusted based on the obtained second similarity. Here, if the obtained second similarity is less than the lower similarity limit, the second test distance can be increased; if the obtained second similarity is greater than the upper similarity limit, the second test distance can be decreased. After T adjustments (T can be 0), if the obtained second similarity is between the upper and lower similarity limits, the current second test distance can be determined as the distance between the waypoint on the third route and the photographed object. In one embodiment, the obtained second similarity can be the highest similarity obtained after comparing the second test image with multiple second images individually.

[0075] Considering that there are multiple second images captured by the drone, the multiple second images can be filtered based on the camera pose information corresponding to the second test image when it was captured. The second images whose camera pose information matches the camera pose information corresponding to the second test image can then be matched with the filtered second images based on similarity, thus improving the efficiency of image matching.

[0076] The shooting method provided in this application embodiment plans a first circling route and a second circling route. The drone can capture images of the subject from various directions via the first circling route, and can capture images of the subject at multiple different heights in a specific direction via the vertical flight path. Since the scene covered by the images captured by the drone on the first circling route includes the scene covered by the images captured by the drone on the vertical flight path, the images captured by the drone on the vertical flight path can be well matched with the images captured by the drone on the first circling route, satisfying the overlap requirements. Therefore, the image overlap requirement between vertical flight path segments can be greatly reduced, eliminating the need to plan dense vertical flight path segments, reducing the time spent on drone shooting, and improving operational efficiency. Furthermore, since the distribution of vertical flight path segments can be relatively sparse, it can adapt to more complex scenes, greatly improving scene adaptability. In addition, because two circling routes are used for shooting, the coverage of the subject is more comprehensive, avoiding the existence of shooting blind spots.

[0077] The shooting method provided in this application, in one embodiment, can be applied to a terminal device. The terminal device can be connected to a drone and can transmit data between them. In one example, the terminal device can be a smart device such as a mobile phone or computer. In another example, the terminal device can be a drone control device, which may include buttons, joysticks, and other operating components for controlling the drone, and may also include a display screen that can directly interact with the user. In one example, the terminal device can be a combination of a smart device and a remote control; for example, the terminal device can be a combination of a mobile phone and a remote control connected together.

[0078] In one implementation, a user can plan a shooting task on a terminal device. This planning may include flight path planning, camera parameter settings, image overlap settings, and subject identification. The terminal device can package and upload the specified data corresponding to the shooting task to the drone. The drone can then move along the planned flight path and take pictures as required, thereby obtaining multiple images of the subject. In one example, the multiple images taken by the drone can be transmitted to the terminal device, which can then use these images to create a 3D model of the subject.

[0079] You can refer to this. Figure 9 , Figure 9 This is a schematic diagram of the imaging device provided in an embodiment of this application. The device includes: a processor 910 and a memory 920 storing a computer program. The processor executes the computer program to perform the following steps:

[0080] Obtain the location information of the subject;

[0081] Based on the location information, a first and a second circumferential route are planned for circumferential shooting of the subject.

[0082] The first circling route includes multiple waypoints, which are distributed in different directions of the subject, at approximately the same distance from the subject, and at approximately the same altitude. The first circling route is used to guide the drone to move around the subject on a horizontal plane.

[0083] The second circumferential route includes multiple vertical route segments, which are distributed in different directions of the subject. Each vertical route segment is used to guide the drone to move upward or downward in the height direction.

[0084] The drone is controlled to move along the first and second circling routes respectively, and to take pictures of the subject during the movement to obtain multiple images of the subject. The multiple images are used to build a three-dimensional model of the subject.

[0085] Optionally, the projection positions of the waypoints of the first circumferential route on the horizontal plane are not the same as the projection positions of the vertical route segments of the second circumferential route on the horizontal plane.

[0086] Optionally, the altitude of the waypoints on the first circumferential route is greater than the altitude of the subject.

[0087] Optionally, the projection position of the vertical line segment of the second circling route on the horizontal plane is determined based on the spatial position of the surface point of the subject.

[0088] Optionally, the distance between the waypoints on the first circumnavigation route and the subject is greater than the distance between the waypoints on the second circumnavigation route and the subject.

[0089] Optionally, the distance between the waypoints on the second circling route and the object being photographed is determined based on multiple first images taken by the UAV while it is moving along the first circling route.

[0090] Optionally, when the processor determines the distance between the waypoint on the second circumnavigation route and the subject based on multiple first images, it is used to:

[0091] The drone is controlled to maintain a first test distance from the subject and to take a picture of the subject to obtain a first test image. The first test distance is less than the distance between the waypoint on the first circling route and the subject.

[0092] The first test image is matched with multiple first images for similarity, and the first test distance is adjusted according to the first similarity obtained from the matching.

[0093] The adjusted first test distance is determined as the distance between the waypoint on the second circumnavigation route and the photographed object.

[0094] Optionally, when the processor adjusts the first test distance based on the first similarity obtained from the match, it is used to:

[0095] If the first similarity is less than the lower limit of similarity, increase the first test distance.

[0096] Optionally, when the processor adjusts the first test distance based on the first similarity obtained from the match, it is used to:

[0097] If the first similarity is greater than the similarity limit, reduce the first test distance.

[0098] Optionally, when the processor performs similarity matching between the first test image and multiple first images, it is used for:

[0099] From multiple first images, select the first image whose camera pose information matches the camera pose information corresponding to the first test image;

[0100] The first test image is matched with the first selected image based on similarity.

[0101] Optionally, the processor is further configured to:

[0102] A third flight path is planned based on the selected region of interest on the surface of the subject.

[0103] Control the drone to move along the third route and take pictures of the subject during the movement.

[0104] Optionally, the distance between the waypoints on the third route and the subject is less than the distance between the waypoints on the second circumferential route and the subject.

[0105] Optionally, the distance between the waypoints on the third route and the subject is determined based on multiple second images taken by the UAV while it is moving along the second circumferential route.

[0106] Optionally, when the processor determines the distance between the waypoints on the third route and the subject based on multiple second images, it is used to:

[0107] The drone is controlled to maintain a second test distance from the subject and to take pictures of the subject to obtain a second test image. The second test distance is less than the distance between the waypoint on the second orbital route and the subject.

[0108] The second test image is matched with multiple second images for similarity, and the second test distance is adjusted based on the second similarity obtained from the matching.

[0109] The adjusted second test distance is determined as the distance between the waypoint on the third route and the subject.

[0110] Optionally, when the processor adjusts the second test distance based on the second similarity obtained from the match, it is used to:

[0111] If the second similarity is less than the lower limit of similarity, increase the second test distance.

[0112] Optionally, when the processor adjusts the second test distance based on the second similarity obtained from the match, it is used to:

[0113] If the second similarity is greater than the similarity limit, reduce the second test distance.

[0114] Optionally, when the processor performs similarity matching between the second test image and multiple second images, it is used for:

[0115] Select a second image from multiple second images whose camera pose information matches the camera pose information corresponding to the second test image;

[0116] The second test image is matched with the selected second image based on similarity.

[0117] The various implementation methods of the shooting device provided above can be referred to the relevant descriptions above, and will not be repeated here.

[0118] The shooting device provided in this application embodiment plans a first circling route and a second circling route. The drone can capture images of the subject from various directions via the first circling route, and can capture images of the subject at multiple different heights in a specific direction via the vertical flight path. Since the scene covered by the images captured by the drone on the first circling route includes the scene covered by the images captured by the drone on the vertical flight path, the images captured by the drone on the vertical flight path can be well matched with the images captured by the drone on the first circling route, satisfying the overlap requirements. Therefore, the image overlap requirement between vertical flight path segments can be greatly reduced, eliminating the need to plan dense vertical flight path segments, reducing the time spent on drone shooting, and improving operational efficiency. Furthermore, since the distribution of vertical flight path segments can be relatively sparse, it can adapt to more complex scenes, greatly improving scene adaptability. In addition, because two circling routes are used for shooting, the coverage of the subject is more comprehensive, avoiding the existence of shooting blind spots.

[0119] You can refer to this. Figure 10 , Figure 10 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. The terminal device may include:

[0120] Communication module 1010 is used to establish a connection with the drone;

[0121] A processor 1020 and a memory 1030 storing a computer program, wherein the processor executes the computer program to perform the following steps:

[0122] Obtain the location information of the subject;

[0123] Based on the location information, a first and a second circumferential route are planned for circumferential shooting of the subject.

[0124] The first circling route includes multiple waypoints, which are distributed in different directions of the subject, at approximately the same distance from the subject, and at approximately the same altitude. The first circling route is used to guide the drone to move around the subject on a horizontal plane.

[0125] The second circumferential route includes multiple vertical route segments, which are distributed in different directions of the subject. Each vertical route segment is used to guide the drone to move upward or downward in the height direction.

[0126] The drone is controlled to move along the first and second circling routes respectively, and to take pictures of the subject during the movement to obtain multiple images of the subject. The multiple images are used to build a three-dimensional model of the subject.

[0127] Optionally, the projection positions of the waypoints of the first circumferential route on the horizontal plane are not the same as the projection positions of the vertical route segments of the second circumferential route on the horizontal plane.

[0128] Optionally, the altitude of the waypoints on the first circumferential route is greater than the altitude of the subject.

[0129] Optionally, the projection position of the vertical line segment of the second circling route on the horizontal plane is determined based on the spatial position of the surface point of the subject.

[0130] Optionally, the distance between the waypoints on the first circumnavigation route and the subject is greater than the distance between the waypoints on the second circumnavigation route and the subject.

[0131] Optionally, the distance between the waypoints on the second circling route and the object being photographed is determined based on multiple first images taken by the UAV while it is moving along the first circling route.

[0132] Optionally, when the processor determines the distance between the waypoint on the second circumnavigation route and the subject based on multiple first images, it is used to:

[0133] The drone is controlled to maintain a first test distance from the subject and to take a picture of the subject to obtain a first test image. The first test distance is less than the distance between the waypoint on the first circling route and the subject.

[0134] The first test image is matched with multiple first images for similarity, and the first test distance is adjusted according to the first similarity obtained from the matching.

[0135] The adjusted first test distance is determined as the distance between the waypoint on the second circumnavigation route and the photographed object.

[0136] Optionally, when the processor adjusts the first test distance based on the first similarity obtained from the match, it is used to:

[0137] If the first similarity is less than the lower limit of similarity, increase the first test distance.

[0138] Optionally, when the processor adjusts the first test distance based on the first similarity obtained from the match, it is used to:

[0139] If the first similarity is greater than the similarity limit, reduce the first test distance.

[0140] Optionally, when the processor performs similarity matching between the first test image and multiple first images, it is used for:

[0141] From multiple first images, select the first image whose camera pose information matches the camera pose information corresponding to the first test image;

[0142] The first test image is matched with the first selected image based on similarity.

[0143] Optionally, the processor is further configured to:

[0144] A third flight path is planned based on the selected region of interest on the surface of the subject.

[0145] Control the drone to move along the third route and take pictures of the subject during the movement.

[0146] Optionally, the distance between the waypoints on the third route and the subject is less than the distance between the waypoints on the second circumferential route and the subject.

[0147] Optionally, the distance between the waypoints on the third route and the subject is determined based on multiple second images taken by the UAV while it is moving along the second circumferential route.

[0148] Optionally, when the processor determines the distance between the waypoints on the third route and the subject based on multiple second images, it is used to:

[0149] The drone is controlled to maintain a second test distance from the subject and to take pictures of the subject to obtain a second test image. The second test distance is less than the distance between the waypoint on the second orbital route and the subject.

[0150] The second test image is matched with multiple second images for similarity, and the second test distance is adjusted based on the second similarity obtained from the matching.

[0151] The adjusted second test distance is determined as the distance between the waypoint on the third route and the subject.

[0152] Optionally, when the processor adjusts the second test distance based on the second similarity obtained from the match, it is used to:

[0153] If the second similarity is less than the lower limit of similarity, increase the second test distance.

[0154] Optionally, when the processor adjusts the second test distance based on the second similarity obtained from the match, it is used to:

[0155] If the second similarity is greater than the similarity limit, reduce the second test distance.

[0156] Optionally, when the processor performs similarity matching between the second test image and multiple second images, it is used for:

[0157] Select a second image from multiple second images whose camera pose information matches the camera pose information corresponding to the second test image;

[0158] The second test image is matched with the selected second image based on similarity.

[0159] The above provides various implementation methods for terminal devices. For specific implementation details, please refer to the relevant descriptions above, which will not be repeated here.

[0160] The terminal device provided in this application embodiment plans flight paths including a first circling flight path and a second circling flight path. The drone can capture images of the subject from various directions via the first circling flight path, and can capture images of the subject at multiple different heights in a specific direction via the vertical flight path. Since the scene covered by the images captured by the drone on the first circling flight path includes the scene covered by the images captured by the drone on the vertical flight path, the images captured by the drone on the vertical flight path can be well matched with the images captured by the drone on the first circling flight path, satisfying the overlap requirements. Therefore, the image overlap requirement between vertical flight path segments can be greatly reduced, eliminating the need to plan dense vertical flight path segments, reducing the time spent on drone shooting, and improving operational efficiency. Furthermore, since the distribution of vertical flight path segments can be relatively sparse, it can adapt to more complex scenes, greatly improving scene adaptability. In addition, because two circling flight paths are used for shooting, the coverage of the subject is more comprehensive, avoiding blind spots.

[0161] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the shooting method provided in this application.

[0162] For each protected subject, multiple implementation methods have been provided above. Without conflict or contradiction, those skilled in the art can freely combine these various implementation methods according to the actual situation to form various different technical solutions. Due to space limitations, this application document has not described all the combined technical solutions, but it is understood that these omitted technical solutions also fall within the scope of the embodiments disclosed in this application.

[0163] The embodiments of this application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0164] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0165] The methods and apparatus provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A shooting method, characterized in that, include: Obtain the location information of the subject; Based on the location information, a first and / or second circumferential route is planned for circumferential shooting of the subject. A third route is planned based on the selected subject; the third route includes multiple waypoints, and the multiple waypoints are spaced equidistant from the surface of the subject. The first circling route includes multiple waypoints, which are distributed in different directions of the subject, at approximately the same distance from the subject, and at approximately the same altitude. The first circling route is used to guide the drone to move around the subject on a horizontal plane. The second circumferential route includes multiple vertical route segments, which are distributed in different directions of the subject. Each vertical route segment is used to guide the drone to move upward or downward in the height direction. The drone is controlled to move along the first and / or the second and the third orbital routes respectively, and to take pictures of the subject during the movement to obtain multiple images of the subject. The multiple images are used to build a three-dimensional model of the subject. Wherein, the distance between the waypoints on the first circumnavigation route and the subject, and / or the distance between the waypoints on the second circumnavigation route and the subject, is greater than the distance between the third route and the subject.

2. The method according to claim 1, characterized in that, The projection positions of the waypoints of the first circumnavigation route on the horizontal plane are inconsistent with the projection positions of the vertical route segments of the second circumnavigation route on the horizontal plane.

3. The method according to claim 1, characterized in that, The altitude of the waypoints on the first circumnavigation route is greater than the altitude of the subject.

4. The method according to claim 1, characterized in that, The projection position of the vertical line segment of the second circumferential route on the horizontal plane is determined based on the spatial position of the surface point of the subject.

5. The method according to claim 1, characterized in that, The distance between the waypoints on the first circumnavigation route and the subject is greater than the distance between the waypoints on the second circumnavigation route and the subject.

6. The method according to claim 5, characterized in that, The distance between the waypoints on the second circling route and the object being photographed is determined based on multiple first images taken by the UAV while it is moving along the first circling route.

7. The method according to claim 6, characterized in that, Determining the distance between waypoints on the second circumnavigation route and the subject based on multiple first images includes: The drone is controlled to maintain a first test distance from the subject and to take a picture of the subject to obtain a first test image. The first test distance is less than the distance between the waypoint on the first circling route and the subject. The first test image is matched with multiple first images for similarity, and the first test distance is adjusted according to the first similarity obtained from the matching. The adjusted first test distance is determined as the distance between the waypoint on the second circumnavigation route and the photographed object.

8. The method according to claim 7, characterized in that, The step of adjusting the first test distance based on the first similarity obtained from the matching includes: If the first similarity is less than the lower limit of similarity, increase the first test distance.

9. The method according to claim 7, characterized in that, The step of adjusting the first test distance based on the first similarity obtained from the matching includes: If the first similarity is greater than the similarity limit, reduce the first test distance.

10. The method according to claim 7, characterized in that, The step of performing similarity matching between the first test image and multiple first images includes: From multiple first images, select the first image whose camera pose information matches the camera pose information corresponding to the first test image; The first test image is matched with the first selected image based on similarity.

11. The method according to claim 5, characterized in that, The step of planning a third route based on the selected subject includes: A third flight path is planned based on the selected region of interest on the surface of the subject.

12. The method according to claim 11, characterized in that, The distance between the waypoints on the third route and the subject is determined based on multiple second images taken by the UAV while it is moving along the second circumferential route.

13. The method according to claim 12, characterized in that, Determining the distance between waypoints on the third route and the subject based on multiple second images includes: The drone is controlled to maintain a second test distance from the subject and to take pictures of the subject to obtain a second test image. The second test distance is less than the distance between the waypoint on the second orbital route and the subject. The second test image is matched with multiple second images for similarity, and the second test distance is adjusted based on the second similarity obtained from the matching. The adjusted second test distance is determined as the distance between the waypoint on the third route and the subject.

14. The method according to claim 13, characterized in that, The step of adjusting the second test distance based on the second similarity obtained from the matching includes: If the second similarity is less than the lower limit of similarity, increase the second test distance.

15. The method according to claim 13, characterized in that, The step of adjusting the second test distance based on the second similarity obtained from the matching includes: If the second similarity is greater than the similarity limit, reduce the second test distance.

16. The method according to claim 13, characterized in that, The step of performing similarity matching between the second test image and multiple second images includes: Select a second image from multiple second images whose camera pose information matches the camera pose information corresponding to the second test image; The second test image is matched with the selected second image based on similarity.

17. A shooting device, characterized in that, include: A processor and a memory storing a computer program, the processor executing the computer program to perform the following steps: Obtain the location information of the subject; Based on the location information, a first and / or second circumferential route is planned for circumferential shooting of the subject. Plan a third route based on the selected subject; The first circling route includes multiple waypoints, which are distributed in different directions of the subject, at approximately the same distance from the subject, and at approximately the same altitude. The first circling route is used to guide the drone to move around the subject on a horizontal plane. The second circumferential route includes multiple vertical route segments, which are distributed in different directions of the subject. Each vertical route segment is used to guide the drone to move upward or downward in the height direction. The drone is controlled to move along the first and / or the second and the third orbital routes respectively, and to take pictures of the subject during the movement to obtain multiple images of the subject. The multiple images are used to build a three-dimensional model of the subject. Wherein, the distance between the waypoints on the first circumnavigation route and the subject, and / or the distance between the waypoints on the second circumnavigation route and the subject, is greater than the distance between the third route and the subject.

18. The apparatus according to claim 17, characterized in that, The projection positions of the waypoints of the first circumnavigation route on the horizontal plane are inconsistent with the projection positions of the vertical route segments of the second circumnavigation route on the horizontal plane.

19. The apparatus according to claim 17, characterized in that, The altitude of the waypoints on the first circumnavigation route is greater than the altitude of the subject.

20. The apparatus according to claim 17, characterized in that, The projection position of the vertical line segment of the second circumferential route on the horizontal plane is determined based on the spatial position of the surface point of the subject.

21. The apparatus according to claim 17, characterized in that, The distance between the waypoints on the first circumnavigation route and the subject is greater than the distance between the waypoints on the second circumnavigation route and the subject.

22. The apparatus according to claim 21, characterized in that, The distance between the waypoints on the second circling route and the object being photographed is determined based on multiple first images taken by the UAV while it is moving along the first circling route.

23. The apparatus according to claim 22, characterized in that, When the processor determines the distance between the waypoints on the second circumferential route and the photographed object based on multiple first images, it is used for: The drone is controlled to maintain a first test distance from the subject and to take a picture of the subject to obtain a first test image. The first test distance is less than the distance between the waypoint on the first circling route and the subject. The first test image is matched with multiple first images for similarity, and the first test distance is adjusted according to the first similarity obtained from the matching. The adjusted first test distance is determined as the distance between the waypoint on the second circumnavigation route and the photographed object.

24. The apparatus according to claim 23, characterized in that, When the processor adjusts the first test distance based on the first similarity obtained from the matching, it is used for: If the first similarity is less than the lower limit of similarity, increase the first test distance.

25. The apparatus according to claim 23, characterized in that, When the processor adjusts the first test distance based on the first similarity obtained from the matching, it is used for: If the first similarity is greater than the similarity limit, reduce the first test distance.

26. The apparatus according to claim 23, characterized in that, When the processor performs similarity matching between the first test image and multiple first images, it is used for: From multiple first images, select the first image whose camera pose information matches the camera pose information corresponding to the first test image; The first test image is matched with the first selected image based on similarity.

27. The apparatus according to claim 21, characterized in that, When the processor plans the third route based on the selected subject, it is used for: A third flight path is planned based on the selected region of interest on the surface of the subject.

28. The apparatus according to claim 17, characterized in that, The distance between the waypoints on the third route and the subject is determined based on multiple second images taken by the UAV while it is moving along the second circumferential route.

29. The apparatus according to claim 28, characterized in that, When the processor determines the distance between the waypoints on the third route and the subject based on multiple second images, it is used for: The drone is controlled to maintain a second test distance from the subject and to take pictures of the subject to obtain a second test image. The second test distance is less than the distance between the waypoint on the second orbital route and the subject. The second test image is matched with multiple second images for similarity, and the second test distance is adjusted based on the second similarity obtained from the matching. The adjusted second test distance is determined as the distance between the waypoint on the third route and the subject.

30. The apparatus according to claim 29, characterized in that, When the processor adjusts the second test distance based on the second similarity obtained from the matching, it is used for: If the second similarity is less than the lower limit of similarity, increase the second test distance.

31. The apparatus according to claim 29, characterized in that, When the processor adjusts the second test distance based on the second similarity obtained from the matching, it is used for: If the second similarity is greater than the similarity limit, reduce the second test distance.

32. The apparatus according to claim 29, characterized in that, When the processor performs similarity matching between the second test image and multiple second images, it is used for: Select a second image from multiple second images whose camera pose information matches the camera pose information corresponding to the second test image; The second test image is matched with the selected second image based on similarity.

33. A terminal device, characterized in that, include: The communication module is used to establish a connection with the drone; A processor and a memory storing a computer program, the processor executing the computer program to perform the following steps: Obtain the location information of the subject; Based on the location information, a first and / or second circumferential route is planned for circumferential shooting of the subject. Plan a third route based on the selected subject; The first circling route includes multiple waypoints, which are distributed in different directions of the subject, at approximately the same distance from the subject, and at approximately the same altitude. The first circling route is used to guide the drone to move around the subject on a horizontal plane. The second circumferential route includes multiple vertical route segments, which are distributed in different directions of the subject. Each vertical route segment is used to guide the drone to move upward or downward in the height direction. The drone is controlled to move along the first and / or the second and the third orbital routes respectively, and to take pictures of the subject during the movement to obtain multiple images of the subject. The multiple images are used to build a three-dimensional model of the subject. Wherein, the distance between the waypoints on the first circumnavigation route and the subject, and / or the distance between the waypoints on the second circumnavigation route and the subject, is greater than the distance between the third route and the subject.

34. The terminal device according to claim 33, characterized in that, The projection positions of the waypoints of the first circumnavigation route on the horizontal plane are inconsistent with the projection positions of the vertical route segments of the second circumnavigation route on the horizontal plane.

35. The terminal device according to claim 33, characterized in that, The altitude of the waypoints on the first circumnavigation route is greater than the altitude of the subject.

36. The terminal device according to claim 33, characterized in that, The projection position of the vertical line segment of the second circumferential route on the horizontal plane is determined based on the spatial position of the surface point of the subject.

37. The terminal device according to claim 33, characterized in that, The distance between the waypoints on the first circumnavigation route and the subject is greater than the distance between the waypoints on the second circumnavigation route and the subject.

38. The terminal device according to claim 37, characterized in that, The distance between the waypoints on the second circling route and the object being photographed is determined based on multiple first images taken by the UAV while it is moving along the first circling route.

39. The terminal device according to claim 38, characterized in that, When the processor determines the distance between the waypoints on the second circumferential route and the photographed object based on multiple first images, it is used for: The drone is controlled to maintain a first test distance from the subject and to take a picture of the subject to obtain a first test image. The first test distance is less than the distance between the waypoint on the first circling route and the subject. The first test image is matched with multiple first images for similarity, and the first test distance is adjusted according to the first similarity obtained from the matching. The adjusted first test distance is determined as the distance between the waypoint on the second circumnavigation route and the photographed object.

40. The terminal device according to claim 39, characterized in that, When the processor adjusts the first test distance based on the first similarity obtained from the matching, it is used for: If the first similarity is less than the lower limit of similarity, increase the first test distance.

41. The terminal device according to claim 39, characterized in that, When the processor adjusts the first test distance based on the first similarity obtained from the matching, it is used for: If the first similarity is greater than the similarity limit, reduce the first test distance.

42. The terminal device according to claim 39, characterized in that, When the processor performs similarity matching between the first test image and multiple first images, it is used for: From multiple first images, select the first image whose camera pose information matches the camera pose information corresponding to the first test image; The first test image is matched with the first selected image based on similarity.

43. The terminal device according to claim 37, characterized in that, When the processor plans the third route based on the selected subject, it is used for: A third flight path is planned based on the selected region of interest on the surface of the subject.

44. The terminal device according to claim 33, characterized in that, The distance between the waypoints on the third route and the subject is determined based on multiple second images taken by the UAV while it is moving along the second circumferential route.

45. The terminal device according to claim 44, characterized in that, When the processor determines the distance between the waypoints on the third route and the subject based on multiple second images, it is used for: The drone is controlled to maintain a second test distance from the subject and to take pictures of the subject to obtain a second test image. The second test distance is less than the distance between the waypoint on the second orbital route and the subject. The second test image is matched with multiple second images for similarity, and the second test distance is adjusted based on the second similarity obtained from the matching. The adjusted second test distance is determined as the distance between the waypoint on the third route and the subject.

46. ​​The terminal device according to claim 45, characterized in that, When the processor adjusts the second test distance based on the second similarity obtained from the matching, it is used for: If the second similarity is less than the lower limit of similarity, increase the second test distance.

47. The terminal device according to claim 45, characterized in that, When the processor adjusts the second test distance based on the second similarity obtained from the matching, it is used for: If the second similarity is greater than the similarity limit, reduce the second test distance.

48. The terminal device according to claim 45, characterized in that, When the processor performs similarity matching between the second test image and multiple second images, it is used for: Select a second image from multiple second images whose camera pose information matches the camera pose information corresponding to the second test image; The second test image is matched with the selected second image based on similarity.

49. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the shooting method as described in any one of claims 1-16.

Images