Method and apparatus for changing the target shooting period for target reconnaissance

Abstract

To provide an efficient method of generating mission plan information for reconnaissance of a target.SOLUTION: A method for changing a target shooting cycle performed by an electronic device includes: obtaining a first target video and detecting a target included in the first target video through coordinate correction to the first target video; determining whether the target is a previously identified target; when it is determined that the target is the previously identified target, extracting change degrees between the first target video and target videos obtained before obtaining the first target video; and changing a shooting cycle of the target from a first shooting cycle to a second shooting cycle based on the change degrees.SELECTED DRAWING: Figure 3a

Description

[Technical Field]

[0001] The present disclosure relates to a method and apparatus for changing a target capture period for target reconnaissance. [Background technology]

[0002] Military reconnaissance missions involve photographing targets using reconnaissance assets such as drones, satellites, and tracking radar, and then acquiring information about the target through comparative analysis with past images to identify signs. For military units operating reconnaissance assets, the number of targets they manage can vary greatly depending on the situation, making it difficult to photograph all targets in a single reconnaissance mission, so targets must be selected and photographed.

[0003] Generally, when carrying out a reconnaissance mission, the shorter the shooting cycle, the faster information on the target can be obtained, but the more targets there are, the longer the mission time, which increases the various costs of operating reconnaissance assets. Conversely, if the shooting cycle is set longer, the mission time will be reduced, but there is a problem that important military information cannot be obtained in a timely manner, so it is necessary to establish an appropriate reconnaissance mission taking into account changes in the target. Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present embodiment is to efficiently generate mission planning information for target reconnaissance. Specifically, the method for changing the target shooting period for target reconnaissance relates to a method for effectively selecting and scheduling targets for surveillance and reconnaissance based on detailed information about the targets using a database for integrated target management. [Means for solving the problem]

[0005] According to one embodiment, a method for changing a target imaging period performed by an electronic device may include acquiring a first target image and detecting a target included in the first target image through coordinate correction of the first target image; determining whether the target is a previously identified target; if it is determined that the target is a previously identified target, extracting a degree of change between the first target image and a target image acquired before acquiring the first target image; and changing the target imaging period from a first imaging period to a second imaging period based on the degree of change.

[0006] The target images acquired before the acquisition of the first target image may include a second target image acquired before the acquisition of the first target image and a third target image acquired before the acquisition of the second target image, and the step of extracting the degree of change may include the step of extracting a first degree of change between the first target image and the second target image, a second degree of change between the first target image and the third target image, and a third degree of change between the second target image and the third target image.

[0007] The changing step includes determining whether at least one of the degrees of change exceeds a threshold value of the degree of change; and if it is determined that all of the degrees of change do not exceed the threshold value of the degree of change, changing the photographing cycle of the target from a first photographing cycle to a second photographing cycle, wherein the second photographing cycle may have a value greater than that of the first photographing cycle.

[0008] The step of changing the photographing cycle of the target from the first photographing cycle to the second photographing cycle may include the steps of: determining an increase / decrease coefficient of the photographing cycle based on a difference between an average of a first change rate between the first target image and the second target image, a second change rate between the first target image and the third target image, and a threshold value of the change rates; and changing the photographing cycle of the target from the first photographing cycle to the second photographing cycle based on the increase / decrease coefficient of the photographing cycle.

[0009] According to one embodiment, the method for changing the target photographing period may further include a step of determining whether or not to photograph the target at a second mission time point that is a later mission time point than the first mission time point when the first target image is acquired, and the determining step may include a step of determining whether or not to photograph the target at the second mission time point based on the difference in the number of days between the first mission time point and the second mission time point and the second photographing period.

[0010] According to an embodiment, the method for changing the target photographing period may further include, after photographing the target at the second mission time point, changing the target photographing period to a third photographing period if at least one of the degrees of change between the first target image and a target image acquired before the acquisition of the first target image is greater than a threshold value of the degree of change, and the third photographing period may correspond to the photographing period when photographing the target at each mission time point.

[0011] The step of changing the photographing cycle of the target may include a step of determining whether at least one of the degrees of change exceeds a threshold value of the degree of change; and a step of changing the photographing cycle of the target from a first photographing cycle to a third photographing cycle when it is determined that at least one of the degrees of change exceeds the threshold value of the degree of change.

[0012] In one embodiment, the method for changing the shooting period of a target may further include, when the target is determined to be a new target, extracting characteristics of the new target, determining a maximum shooting period for the new target, registering target information of the new target, and determining the shooting period of the new target as a third shooting period.

[0013] According to one embodiment, an electronic device for performing a method for changing a target imaging period may include a memory; and a processor that acquires a first target image, detects a target included in the first target image through coordinate correction of the first target image, determines whether the target is a previously identified target, extracts a degree of change between the first target image and a target image acquired before acquiring the first target image, and changes the target imaging period from a first imaging period to a second imaging period based on the degree of change. [Effects of the Invention]

[0014] Through the method for changing the target photographing period according to an embodiment of the present disclosure, reconnaissance missions can be flexibly planned based on the recent change rate of the target image.

[0015] In addition, through the method according to the present disclosure, depending on the recent change in the target image, for example, if the recent change in the target image is insignificant, the target shooting period can be quickly increased to reduce unnecessary mission time and costs required for the target, and if the recent change in the target image is significantly large, the shooting period can be shortened in consideration of multiple military signs caused by changes in the target. In this way, whether or not to shoot a target during a specific mission can be automatically determined based on the target shooting period changed depending on the target's recent movement, thereby easily establishing a flexible mission plan.

[0016] Furthermore, by taking into consideration the amount of information acquired about the target and the increase in mission time required for the reconnaissance mission, an appropriate reconnaissance mission can be planned to meet the objectives of the reconnaissance mission. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram illustrating a system for changing a target photographing period according to an embodiment; [Figure 2] FIG. 1 is a block diagram illustrating a configuration of an electronic device for changing a target shooting period according to an embodiment. [Figure 3a]10 is a diagram illustrating a method for changing a target photographing period according to an embodiment; [Figure 3b] 10 is a diagram illustrating a method for changing a target photographing period according to an embodiment; [Figure 4a] 10 is a diagram illustrating a process of determining a change degree of a target image in a method for changing a target photographing period according to an embodiment; [Figure 4b] 10 is a diagram illustrating a process of determining a change degree of a target image in a method for changing a target photographing period according to an embodiment; [Figure 5] 10 is a diagram illustrating a process of establishing an imaging plan for a target according to a changed imaging period in a method for changing an imaging period of a target according to an embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0018] The terms used in the embodiments are currently commonly used and general terms that have been selected as much as possible while taking into consideration the functions in the present disclosure, but these may change depending on the intentions of engineers in the field, precedents, the emergence of new technologies, etc. In addition, in certain cases, the applicant may arbitrarily select terms, and in such cases, the meanings thereof will be described in detail in the relevant description. Therefore, the terms used in the present disclosure must be defined based on the meanings of the terms and the overall content of the present disclosure, rather than simply by the names of the terms.

[0019] Throughout the specification, when a part "comprises" a certain element, this does not mean that it excludes other elements, but that it may further include other elements, unless otherwise specified.

[0020] Throughout the specification, the expression "at least one of a, b, and c" can encompass "a alone," "b alone," "c alone," "a and b," "a and c," "b and c," or "all of a, b, and c."

[0021] The "terminal" referred to below may be embodied as a computer or a portable terminal that can connect to a server or other terminals via a network. Here, the computer may include, for example, a notebook computer, desktop computer, or laptop computer equipped with a web browser, and the portable terminal may include, for example, a wireless communication device that ensures portability and mobility, such as communication-based terminals like International Mobile Telecommunication (IMT), Code Division Multiple Access (CDMA), W-CDMA (W-Code Division Multiple Access), and Long Term Evolution (LTE), as well as all kinds of handheld-based wireless communication devices like smartphones and tablet PCs.

[0022]

[0033] The present disclosure will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be embodied in several different forms and is not limited to the embodiments described herein.

[0023] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0024] FIG. 1 is a diagram illustrating a system for changing a target photographing period according to an embodiment.

[0025] Military reconnaissance missions require periodic review of the target's dynamics and the establishment of appropriate imaging plans for each mission. For example, setting a shorter target imaging cycle for military reconnaissance missions allows for faster target acquisition. However, as more targets are imaged during a single mission, the mission time increases, resulting in increased personnel and administrative costs for managing reconnaissance assets. Conversely, setting a longer target imaging cycle reduces the mission time, but slows target acquisition, potentially preventing timely acquisition of important military intelligence. Ideally, a large amount of target information is acquired within a short mission time. However, because there is a trade-off between these two factors depending on the imaging cycle, a technique is needed to set and adjust the target imaging cycle appropriately.

[0026] 1, in a system for changing a target imaging period according to an embodiment, a tracking radar 101 detects a target 102, generates a signal for tracking the target 102, and emits the signal to the target 102. Thereafter, the tracking radar 101 receives a signal reflected back from the target 102 and can acquire various image histories over time of an image including the target 102.

[0027] The target 102 may be an object that the tracking radar 101 is trying to track and photograph. The target 102 may have various shapes and sizes and may vary depending on the reconnaissance mission performed by the tracking radar 101. The target 102 may be identified and tracked by the tracking radar 101, and may be a new target newly detected depending on the purpose and history of the military reconnaissance mission, or may be an identified target that has already been detected previously.

[0028] The electronic device 100 can perform a method for changing the target 102 imaging period according to an embodiment, and set an imaging plan for the mission point regarding whether the tracking radar 101 will image the target 102 or not.

[0029] FIG. 2 is a block diagram illustrating the structure of an electronic device for changing the target shooting period according to an embodiment.

[0030] 2, the electronic device 100 may include a memory 110 and a processor 120. Only components relevant to this embodiment are shown in the electronic device 100 illustrated in Fig. 2. Therefore, it will be obvious to those skilled in the art that the electronic device 100 may further include other general-purpose components in addition to the components illustrated in Fig. 2.

[0031] The memory 110 is hardware that stores various data processed within the electronic device 100, and may store data that has been processed by the electronic device 100 and data to be processed by the electronic device 100. The memory 110 may also store applications, drivers, and the like that are run by the electronic device 100. The memory 110 may include random access memory (RAM) such as dynamic random access memory (DRAM) or static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, Blu-ray, or other optical disk storage, hard disc drive (HDD), solid state drive (SSD), or flash memory.

[0032] The processor 120 controls the electronic device 100 overall by executing a program related to an algorithm stored in the memory 110 in the electronic device 100. The processor 120 may be embodied as a central processing unit (CPU), a graphics processing unit (GPU), an application processor (AP), etc. provided in the electronic device 100, but is not limited to these.

[0033] In order for the electronic device 100 to perform the method of changing the target photographing cycle, the processor 120 may acquire a first target image using the electronic device 100, detect a target included in the first target image through coordinate correction of the first target image, determine whether the target is a previously identified target, extract a degree of change between the first target image and a target image acquired before the acquisition of the first target image, and control the electronic device 100 to change the target photographing cycle from a first photographing cycle to a second photographing cycle based on the degree of change.

[0034] For example, when processor 120 extracts the degree of change between a first target image and a target image acquired before the first target image was acquired, the target image acquired before the first target image may include a second target image acquired before the first target image was acquired and a third target image acquired before the second target image was acquired, and processor 120 may extract a first degree of change between the first target image and the second target image, a second degree of change between the first target image and the third target image, and a third degree of change between the second target image and the third target image.

[0035] For example, processor 120 may determine whether at least one of the degrees of change exceeds a threshold value for the degree of change, and if it is determined that none of the degrees of change exceed the threshold value for the degree of change, may change the target's shooting period from a first shooting period to a second shooting period, in which case the second shooting period may have a value greater than the first shooting period.

[0036] For example, the processor 120 may determine an increase / decrease coefficient for the shooting cycle based on the difference between the average of the first change rate between the first target image and the second target image, the second change rate between the first target image and the third target image, and the third change rate between the second target image and the third target image and the threshold value of the change rate, and may change the shooting cycle of the target from the first shooting cycle to the second shooting cycle based on the increase / decrease coefficient for the shooting cycle.

[0037] For example, the processor 120 may determine whether or not the target is photographed at a second mission time point, which is a later mission time point than the first mission time point when the first target image was acquired, and in this case, may determine whether or not the target is photographed at the second mission time point based on the difference in the number of days between the first mission time point and the second mission time point and the second photographing period.

[0038] For example, after photographing the target at the second mission time, if at least one of the degrees of change between the first target image and the target image acquired before the first target image is acquired is greater than a threshold value of the degree of change, the processor 120 may change the target photographing period to a third photographing period, in which case the third photographing period may correspond to the photographing period when photographing the target at each mission time.

[0039] For example, the processor 120 may determine whether at least one of the change rates exceeds a threshold value for the change rate, and if it is determined that at least one of the change rates exceeds the threshold value for the change rate, may change the target shooting cycle from the first shooting cycle to the third shooting cycle.

[0040] For example, if the target is determined to be a new target, the processor 120 may extract the characteristics of the new target, determine the maximum shooting period for the new target, register the target information of the new target, and determine the shooting period for the new target as the third shooting period. In this case, the maximum shooting period for the new target may mean the largest shooting period within the range of target shooting periods that can be set according to the characteristics of the new target and the purpose of the military reconnaissance mission.

[0041] An example of a method for changing the target capturing period performed by the electronic device 100 according to the embodiment will be described below.

[0042] 3a and 3b are diagrams for specifically explaining a method for changing the target photographing period according to an embodiment.

[0043] Referring to FIG. 3a, in operation S310, the electronic device 100 according to an embodiment may acquire a first target image and detect a target included in the first target image by correcting the coordinates of the first target image.

[0044] In operation S320, the electronic device 100 according to an embodiment may determine whether the target is a previously identified target. If the target is determined to be a new target, the electronic device 100 may extract features of the new target, determine a maximum shooting period for the new target, register target information for the new target, and determine the shooting period for the new target as a third shooting period. In this case, the third shooting period may correspond to a shooting period when the new target is photographed at each mission time point. For example, if a mission is performed once a day and the mission time points are the first day corresponding to d=1 and the second day corresponding to d=2, the third shooting period may be one day, which corresponds to a shooting period when the new target is photographed on a daily basis. The electronic device 100 photographs the new target at each mission time point during the shooting period, thereby obtaining as much information about the new target as possible within the shortest possible mission period.

[0045] In operation S330, if the target is determined to be a previously identified target, the electronic device 100, according to an embodiment, may extract a degree of change between target images acquired before acquiring a first target image. The target images acquired before acquiring the first target image may include a second target image acquired before acquiring the first target image and a third target image acquired before acquiring the second target image. Extracting the degree of change, according to an embodiment, may include extracting a first degree of change between the first target image and the second target image, a second degree of change between the first target image and the third target image, and a third degree of change between the second target image and the third target image. The electronic device 100 may extract the first degree of change to determine whether a sudden change has occurred in the target, extract the second degree of change to determine whether a gradual change has occurred in the target and the target requires closer attention, and extract the third degree of change to determine whether a sudden change has occurred in the target recently and another sudden change may occur in the near future and the target requires attention for a certain period of time. A specific explanation of this is discussed in detail below in FIG. 4a.

[0046] In operation S340, the electronic device 100 according to an embodiment may change the photographing cycle of the target from the first photographing cycle to the second photographing cycle based on the degree of change. In this case, the first photographing cycle may correspond to the photographing cycle set for the target before the electronic device 100 changes the photographing cycle, and the second photographing cycle may correspond to the photographing cycle after the electronic device 100 changes the photographing cycle.

[0047] In changing the photographing cycle, the electronic device 100 determines whether at least one of the degrees of change exceeds a threshold value of the degree of change, and if it is determined that none of the degrees of change exceed the threshold value of the degree of change, the electronic device 100 may change the photographing cycle of the target from the first photographing cycle to a second photographing cycle. In this case, the second photographing cycle may have a value greater than the first photographing cycle. This is because, if none of the degrees of change between the target images exceed the threshold value of the degree of change, it is determined that there has been no recent urgent change in the target, and therefore no urgent change will occur in the short term, and the electronic device 100 gradually increases the photographing cycle of the target to prevent unnecessary waste of resources.

[0048] In changing the target shooting cycle from the first shooting cycle to the second shooting cycle, the electronic device 100 may determine an increase / decrease coefficient for the shooting cycle based on a difference between an average of the first degree of change between the first target image and the second target image, the second degree of change between the first target image and the third target image, and the third degree of change between the second target image and the third target image and a threshold value for the degree of change, and change the target shooting cycle from the first shooting cycle to the second shooting cycle based on the increase / decrease coefficient. In this case, the increase / decrease coefficient for the shooting cycle may be a value that determines a change amount between the second shooting cycle and the first shooting cycle when changing the target shooting cycle from the first shooting cycle to the second shooting cycle based on a difference between the degree of change between the target images and the threshold value for the degree of change. This is because the larger the difference between the first through third change rates and the change rate threshold, the smaller the change to the target, so the target shooting cycle is increased quickly, and the smaller the difference between the first through third change rates and the change rate threshold, the larger the change to the target, so the target shooting cycle is increased conservatively and gradually. A detailed explanation of this will be discussed in detail in Figure 4b below.

[0049] In changing the photographing cycle, the electronic device 100 may determine whether at least one of the degrees of change exceeds a threshold value of the degree of change, and if it is determined that at least one of the degrees of change exceeds the threshold value of the degree of change, the electronic device 100 may reduce the photographing cycle of the target from the first photographing cycle to a third photographing cycle. In this case, the third photographing cycle may correspond to a photographing cycle when photographing the new target at each mission time point, for example, when a mission is performed once a day and the mission time points are the first day corresponding to d=1 and the second day corresponding to d=2, the third photographing cycle may be one day corresponding to a photographing cycle when photographing the new target on a daily basis.

[0050] Referring to FIG. 3B, an electronic device 100 according to an embodiment may acquire (311) a target image captured by a reconnaissance asset through a tracking radar 101. After acquiring (311) the target image, the electronic device 100 may correct geographic coordinates, such as latitude and longitude, mapped to each pixel of the image through image coordinate correction (312) to obtain precise coordinates to be used when identifying new targets or comparing images. To correct the geographic coordinates during image coordinate correction (312), for example, a geometric correction technique based on ground control points (GCPs) may be used, which establishes a reference point that identifies precise geographic coordinates within the image and corrects the coordinates based on the reference point, thereby offsetting distortion of the image. After acquiring target coordinates from the image through image coordinate correction (312), the electronic device 100 may compare the target coordinates with existing target information to determine (325) whether the detected target is a new target or a previously identified target.

[0051] In one embodiment, if the confirmed 325 target t is an identified target, the most recent k t By comparing target images of target t taken over a period of days, the degree of change of the target can be extracted 331. t is a parameter given to the system and determined by multiple factors such as available computing resources, the presence / degree of real-timeness, target characteristics / situation, etc., and k t may be set and used based on other criteria such as the number of images shot, as well as the number of days the images to be compared were shot, but is not limited to the specific cases described in the embodiments of the present disclosure. The step of extracting the degree of change of the target 331 may include a method of comparing the degree of change for each pixel between the target images, a method of comparing the degree of change for each object, or a method using image registration. The electronic device 100 according to an embodiment may extract the degree of change of the target as a value between 0 and 100% using existing change detection and measurement techniques.

[0052] The electronic device 100 according to an embodiment may compare the extracted degree of change with a threshold value of the degree of change and change the imaging period according to the result 332. In this case, the threshold value of the degree of change may be a criterion for determining whether the degree of change of the target is a significant change from a military perspective, and may be a system parameter that must be determined through modeling or experiments based on data on a set of specific targets handled by the system and then input into the system.

[0053] The electronic device 100 may compare 332 the extracted degree of change with a threshold value of the degree of change, and if the extracted degree of change is not greater than the threshold value of the degree of change, may gradually increase and change 333 the shooting period.

[0054] The electronic device 100 may compare 332 the extracted degree of change with a threshold value of the degree of change, and may change 334 the photographing period to a minimum if the extracted degree of change is greater than the threshold value of the degree of change.

[0055] In one embodiment, if the identified target t (t) is a new target, the electronic device 100 may extract (350) the characteristics of the new target, determine (360) a maximum imaging period appropriate for the target characteristics according to military organization guidelines, and register the target information. The target imaging period is a value that determines how many days the target is imaged based on the number of mission days. The maximum imaging period may refer to the maximum imaging period that can be determined as the imaging period for the new target based on the reconnaissance mission and the characteristics of the new target. That is, the electronic device 100 may determine the maximum imaging period to define a lower bound for the information acquisition speed that does not impair the reconnaissance effect, taking into account the characteristics of the new target. The electronic device 100 may change the imaging period for the new target by setting (380) the imaging period for the new target to the minimum imaging period in order to collect as much information as possible about the new target in a short period of time.

[0056] 4a and 4b are diagrams illustrating a process of determining a change degree of a target image in a method for changing a target photographing period according to an embodiment.

[0057] Referring to FIG. 4a, the electronic device 100 according to one embodiment includes: t -In order to extract a valid target change rate from the image within the window, the change rate between the second target image 420 acquired before the acquisition of the first target image 410 and the third target image acquired before the acquisition of the second target image 410 can be extracted.

[0058] The electronic device 100 according to an embodiment may extract a first degree of change 415 between the first target image 410 and the second target image 420. For example, if the first degree of change 415 exceeds a threshold value of the degree of change, it may indicate that a sudden change has occurred in the target, which may indicate the occurrence of a military indication and the need for rapid collection of additional information.

[0059] The electronic device 100 according to an embodiment may extract a second degree of change 425 between the first target image 410 and the third target image 430 acquired before the second target image 420. For example, if the second degree of change 425 exceeds a threshold value of the degree of change, the target is k t -Any significant incremental change within the window could mean that we need to keep an eye on whether there are any military indications.

[0060] The electronic device 100 according to an embodiment may extract a third change rate 435 between the second target image 420 and the third target image 430, which are adjacent images in the photographing order. For example, if the third change rate 435 exceeds a change rate threshold, k t - This means that there was a sudden change in the target within the window, so it may mean that another sudden change may occur in the near future and that we need to keep an eye on it for a certain period of time.

[0061] In addition to the first change rate 415, the second change rate 425, and the third change rate 435 mentioned in the process of determining the change rate of the target, the electronic device 100 may also extract a change rate 425-1 between the target image acquired before the third target image and the first target image, and a change rate 425-2 between the third target image and the image acquired before the third target image, and compare the change rates with a threshold value to determine whether they exceed the threshold value. This can be used in the process of changing the target shooting period described below in Figure 4b.

[0062] In one embodiment, when it is determined that at least one of the first change rate 415, the second change rate 425, and the third change rate 435 acquired by the electronic device 100 exceeds a change rate threshold, the electronic device 100 may determine the imaging period as the third imaging period. In this case, the third imaging period may correspond to an imaging period when the target is imaged at each mission time point without fail. In order to acquire as much information as possible about the target within a short period of time, the electronic device 100 may determine the imaging period as the third imaging period.

[0063] In one embodiment, if it is determined that at least one of the first change rate 415, the second change rate 425, and the third change rate 435 acquired by the electronic device 100 does not exceed the critical value of the change rate, the electronic device 100 may determine that the target will not change significantly in the short term and gradually increase the shooting cycle.

[0064] In one embodiment, instead of extracting the second change rate 425 and the third change rate 435, the electronic device 100 stores the value of the first change rate 415 corresponding to the change rate of the target image most recent in time, and can subsequently continuously use this value as the third change rate 435 or the change rate 425-2 between images acquired before the third target image in the step of extracting the change rate for a new image.

[0065] 4b, the electronic device 100 according to an embodiment may determine whether at least one of the change rates 415, 425, and 435 mentioned in FIG. 4a exceeds a change rate threshold value 445. If it is determined that none of the change rates exceed the change rate threshold value 445, the electronic device 100 may change the target capture cycle from the first capture cycle to a second capture cycle. In this case, the second capture cycle may have a value greater than the first capture cycle. In the step of changing the photographing cycle of the target from the first photographing cycle to the second photographing cycle, the electronic device 100 may determine an increase / decrease coefficient for the photographing cycle based on the difference between the average of the first degree of change 415 between the first target image 410 and the second target image 420, the second degree of change 425 between the first target image 410 and the third target image 430, and the third degree of change 435 between the second target image 420 and the third target image 430 and the threshold value 445 of the degrees of change, and change the photographing cycle of the target from the first photographing cycle to the second photographing cycle based on the increase / decrease coefficient for the photographing cycle. In the case of FIG. 4b, in addition to the first change rate 415, second change rate 425, and third change rate 435 mentioned above, a change rate 425-1 between the target image acquired before the third target image and the first target image, and a change rate 425-2 between the third target image and the image acquired before the third target image are also extracted and illustrated as being usable in the process of changing the shooting cycle. However, embodiments of the present disclosure are not limited to a specific case, and below, the process of changing the target shooting cycle from the first shooting cycle to the second shooting cycle will be discussed using only the first change rate 415, second change rate 425, and third change rate 435.

[0066] The electronic device 100 according to an embodiment may calculate an average value of the differences between the first gradient 415, the second gradient 425, and the third gradient 435 and the gradient threshold 445.

number

number

[0067]

number

[0068] At this time, th t may represent the gradient threshold 445, and r1 to r3 may represent the first gradient 415, the second gradient 425, and the third gradient 435, respectively. The electronic device 100 calculates the average value of the difference between the first gradient 415, the second gradient 425, and the third gradient 435 and the gradient threshold 445.

number

[0069]

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[0070] At this time, a t may mean a coefficient of increase or decrease of the shooting period, and in this case, the coefficient of increase or decrease of the shooting period may be a value that determines the amount of change between the second shooting period and the first shooting period when the shooting period of the target is changed from the first shooting period to the second shooting period based on the difference between the degree of change between the target images and the critical value of the degree of change. t The initial value of may be set to 0, for example, t The value of is an average value of the differences between the first gradient 415, the second gradient 425, the third gradient 435 and the gradient critical value 445 for each shooting period as shown in Equation 5.

number

[0071]

number

[0072] In this case, p t may refer to a modified capture period,

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[0073] For example, k t The greater the degree to which the first change rate 415, the second change rate 425, and the third change rate 435 between the images in the window do not reach the change rate threshold value 445, the greater the average value of the differences between the first change rate 415, the second change rate 425, and the third change rate 435 and the change rate threshold value 445.

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[0074] Conversely, even if the first gradient 415, the second gradient 425, and the third gradient 435 do not exceed the gradient critical value 445, if the average of these gradients approaches the gradient critical value 445,

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[0075] FIG. 5 is a diagram illustrating a process of establishing a target imaging plan according to a determined imaging cycle in a method for changing an imaging cycle of a target according to an embodiment.

[0076] According to an embodiment, the electronic device 100 may determine whether a target is photographed at a second mission time point, which is a later mission time point than the first mission time point when the first target image is acquired. In this case, the electronic device 100 may determine whether the target is photographed at the second mission time point based on the difference in the number of days between the first mission time point and the second mission time point and the second photographing period. For example, when a mission time point d and a target t are given as input, a function b(d, t) indicating whether the target t is photographed may be determined by, for example, the following Equation 11.

[0077]

number

[0078] In this case, d may represent the second mission time point at which it is determined whether or not to photograph the target t, and p t may mean a modified second imaging cycle, and bt may refer to the first mission time point at which the target t was photographed. For example, the first mission time point at which the target t was photographed is p t It can be the value of d when the target t is changed or when the shooting of t is delayed but successful. For example, when d is 10, the shooting of the target t that performed the mission is completed and p t If b is changed (e.g., changed from 1 to 2), t is 10. As another example, if d is 10, t cannot be photographed and is delayed, but d is 13 and the photograph is successful, then b t is 13. b t The image capturing period may be changed when determining whether to capture a target according to the image capturing period through modulo operation, or may serve as a reference value for correcting the image capturing period so that it does not become irregular due to delayed image capturing. t Once this is determined, the difference in days between the first and second missions is db t For the second shooting period p t The electronic device 100 can determine whether to capture an image by returning 1 or 0 as the value of the function b(d, t) through the sign function (signum) and bit complement operation (~) as shown in Equation 11. For example, if b(d, t) is 1, the electronic device 100 can capture an image of the target t at the mission time d according to the changed second capture period, and if b(d, t) is 0, the electronic device 100 can not capture an image.

[0079] Referring to FIG. 5, an embodiment in which the electronic device 100, according to an embodiment, plans whether or not to photograph targets for each mission according to b(d, t). For example, targets to be photographed at mission time 511 when d=3 may be targets corresponding to four columns of the table, i.e., squares calculated as 1 at d=3 (e.g., target A 501; target B 502; target C 503). A collection of such targets may form a list of targets to be photographed at mission time 511 when d=3. After completing the mission at mission time 511 when d=3, the electronic device 100 may change the photographing cycle based on the photographed target images through the steps described with reference to FIGS. 3A and 3B. For example, at mission time 512 when d=4, the photographing cycles of target A 501 and target B 502 may be changed, such that target A 501 is excluded from the mission time 512 when d=4 and target B 502 is included.

[0080] In one embodiment, the electronic device 100 may be unable to photograph due to a mission cancellation, obstruction of terrain features, equipment failure, etc. For example, if target t cannot be photographed at mission time d, the electronic device 100 may separately manage a photography plan for target t and include the target t in a photography target list for subsequent mission days (d+1, d+2, . . .). If the electronic device 100 is successful in photographing the target at some point during the subsequent mission days (d+1, d+2, . . .), the electronic device 100 may, as described above, t For example, if the number of mission days is updated every year, the mission time d may have a mission unit of one day and may be a value from 1 day to 365 days. Depending on the implementation of the system, the range of the mission time may be changed, and may be defined by a mission unit in hours, or a mission number or number of times, instead of a mission unit in days.

[0081] According to an embodiment, after capturing an image of a target at a second mission time, the electronic device 100 may change the target capturing period to a third capturing period if at least one of the degrees of change between the first target image and target images acquired before the first target image is acquired is greater than a threshold value. In this case, the third capturing period may correspond to the capturing period when capturing an image of the target at each mission time. Furthermore, if there is no degree of change between the first target image and target images acquired before the first target image that exceeds the threshold value, the electronic device may change the increase / decrease coefficient of the target capturing period as shown in Equation 7. For example, after capturing an image of a target at a second mission time, the electronic device 100 may determine the increase / decrease coefficient of the capturing period and the capturing period as shown in Equation 12.

[0082]

number

[0083] At this time, a t can mean the increase / decrease coefficient of the shooting cycle. In this case, C t can mean the set of change degrees extracted in the video history of t by the method of Fig. 4b, and r is C t The gradient can be one of the gradients included in

[0084] For example, the electronic device 100 may determine that the first gradient 415, the second gradient 425, and the third gradient 435 of the target A 501 do not reach the gradient threshold 445, and the average difference between the first gradient 415, the second gradient 425, and the third gradient 435 and the gradient threshold 445 is less than the threshold 445.

number

[0085] For example, when at least one of the first change rate 415, the second change rate 425, and the third change rate 435 of the target B 502 is greater than the change rate threshold value 445, the electronic device 100 increases or decreases the photographing cycle increase / decrease coefficient a t can be determined to be 0, thereby changing the photographing period to a third photographing period (e.g., 1 day). That is, the photographing period of the electronic device 100 is 2 days before the mission time 511 of the target B 502, but the photographing period can be reduced to 1 day from the mission time 512 after the photographing at the mission time 511.

[0086] For example, the electronic device 100 determines that the first gradient 415, the second gradient 425, and the third gradient 435 of the target C503 cannot reach the gradient threshold 445, and the increase / decrease coefficient a t If is not large enough to change the photographing period of target C503 according to Equation 7 and Equation 11, the photographing period of target C503 can be maintained at 3 days even at mission time 512 after the photographing at mission time 511 from the photographing period of 3 days before mission time 511, and the photographing period of target C503 can be gradually changed from mission time 513 to mission time 514 onwards.

[0087] The electronic device according to the above-described embodiments may include a processor, memory for storing and executing program data, permanent storage such as a disk drive, a communication port for communicating with external devices, and user interface devices such as a touch panel, keys, buttons, etc. Methods embodied as software modules or algorithms may be stored on a computer-readable recording medium as computer-readable code or program instructions executable on the processor. Examples of computer-readable recording media include magnetic storage media (e.g., read-only memory (ROM), random-access memory (RAM), floppy disks, hard disks, etc.) and optically readable media (e.g., CD-ROMs, DVDs, etc.). The computer-readable recording medium may be distributed across computer systems connected via a network, allowing the computer-readable code to be stored and executed in a distributed manner. The medium is computer-readable, can be stored in memory, and can be executed by a processor.

[0088] The present embodiments may be illustrated by functional block configurations and various processing steps. These functional blocks may be embodied in various hardware and / or software components that perform specific functions. For example, the embodiments may employ direct circuitry, such as memory, processing, logic, look-up tables, and the like, that can perform various functions under the control of one or more microprocessors or other control devices. Just as components may be implemented in software programming or software elements, the present embodiments include various algorithms embodied in a combination of data structures, processes, routines, or other programming components, and may be embodied in programming or scripting languages ​​such as C, C++, Java, assembler, and the like. Functional aspects may be embodied in algorithms executed on one or more processors. The present embodiments may also employ conventional techniques for electronic configuration, signal processing, and / or data processing. Terms such as "mechanism," "element," "means," and "component" may be used broadly and are not limited to mechanical or physical components. These terms may include a series of software routines in cooperation with a processor or the like.

[0089] The above-described embodiments are by way of example only, and other embodiments may be embodied within the scope of the following claims.

Claims

1. 1. A method for modifying a target capture period performed by an electronic device, comprising: acquiring a first target image, correcting coordinates of the first target image, and then detecting a target included in the first target image; determining whether the target is an identified target; extracting a degree of change between the first target image and a target image acquired before acquiring the first target image if the target is determined to be a previously identified target; determining whether at least one of the degrees of change exceeds a threshold value of the degree of change; changing a photographing period of the target from a first photographing period to a second photographing period when it is determined that all of the degrees of change do not exceed the threshold values ​​of the degrees of change; Including, the second photographing period has a value greater than the first photographing period, The step of changing the target photographing period from the first photographing period to the second photographing period includes: a first degree of change between a first target image and a second target image acquired before the acquisition of the first target image; a second degree of change between the first target image and a third target image acquired before the second target image is acquired; and an average of a third degree of change between the second target image and the third target image; determining an increase / decrease coefficient of the photographing period based on a difference between the change rate and a threshold value; changing the photographing period of the target from a first photographing period to a second photographing period based on the photographing period increase / decrease coefficient; Including, method.

2. The target image acquired before the acquisition of the first target image is a second target image acquired before the acquisition of the first target image; and a third target image acquired before the second target image is acquired; The step of extracting the degree of change includes: a first degree of change between the first target image and the second target image; a second degree of change between the first target image and the third target image; and extracting a third degree of change between the second target image and the third target image; The method of claim 1.

3. The method further includes determining whether to capture an image of the target at a second task point in time that is later than a first task point in time when the first target image is acquired, The determining step comprises: determining whether to photograph the target at the second mission time point based on the difference in the number of days between the first mission time point and the second mission time point and the second photographing period; The method of claim 1.

4. After photographing the target at the time of the second mission, If at least one of the degrees of change between the first target image and a target image acquired before the acquisition of the first target image is greater than a threshold value of the degree of change, further comprising changing the target photographing period to a third photographing period; The third photographing period corresponds to a photographing period when photographing the target at each mission time point. The method of claim 3.

5. The step of changing the target photographing period includes: determining whether at least one of the degrees of change exceeds a threshold value of the degree of change; and when it is determined that at least one of the degrees of change exceeds a threshold value of the degree of change, changing an imaging period of the target from a first imaging period to a third imaging period corresponding to an imaging period when imaging the target at each mission time point. The method of claim 1.

6. If the target is determined to be a new target, the method further includes extracting features of the new target, determining a maximum photographing period for the new target, registering target information of the new target, and determining the photographing period of the new target as a third photographing period corresponding to a photographing period when photographing the new target at each mission point. The method of claim 1.

7. 1. An electronic device for performing a method for changing a target shooting period, comprising: Memory and A processor, acquiring a first target image, correcting coordinates of the first target image, and then detecting a target included in the first target image; determining whether the target is an identified target; extracting a degree of change between the first target image and a target image acquired before acquiring the first target image if the target is determined to be a previously identified target; determining whether at least one of the degrees of change exceeds a threshold value of the degree of change; changing a photographing period of the target from a first photographing period to a second photographing period when it is determined that all of the degrees of change do not exceed the threshold values ​​of the degrees of change; a processor executing Including, the second photographing period has a value greater than the first photographing period, The step of changing the target photographing period from the first photographing period to the second photographing period includes: a first degree of change between a first target image and a second target image acquired before the acquisition of the first target image; a second degree of change between the first target image and a third target image acquired before the second target image is acquired; and an average of a third degree of change between the second target image and the third target image; determining an increase / decrease coefficient of the photographing period based on a difference between the change rate and a threshold value; changing the photographing period of the target from a first photographing period to a second photographing period based on the photographing period increase / decrease coefficient; Including, electronic equipment.

8. A non-transitory computer-readable recording medium having a program recorded thereon for causing a computer to execute a method for changing a target shooting period, The method for changing the target shooting period includes: acquiring a first target image, correcting coordinates of the first target image, and then detecting a target included in the first target image; determining whether the target is an identified target; extracting a degree of change between the first target image and a target image acquired before acquiring the first target image if the target is determined to be a previously identified target; determining whether at least one of the degrees of change exceeds a threshold value of the degree of change; changing a photographing period of the target from a first photographing period to a second photographing period when it is determined that all of the degrees of change do not exceed the threshold values ​​of the degrees of change; Including, the second photographing period has a value greater than the first photographing period, The step of changing the target photographing period from the first photographing period to the second photographing period includes: a first degree of change between a first target image and a second target image acquired before the acquisition of the first target image; a second degree of change between the first target image and a third target image acquired before the second target image is acquired; and an average of a third degree of change between the second target image and the third target image; determining an increase / decrease coefficient of the photographing period based on a difference between the change rate and a threshold value; changing the photographing period of the target from a first photographing period to a second photographing period based on the photographing period increase / decrease coefficient; Including, Non-transitory recording media.

Images