Image display method and apparatus, image transmission method and apparatus, device, movable platform, system, and storage medium

Abstract

An image display method, comprising: acquiring an image collected by a movable platform during operation (S110); displaying an image of a first viewing angle and an image of a second viewing angle in real time (S120), the image collected by the movable platform comprising the image of the first viewing angle and the image of the second viewing angle, the first viewing angle and the second viewing angle being different viewing angles, the image of the first viewing angle being obtained from a panoramic image collected by a panoramic photographing sensor of the movable platform, the panoramic photographing sensor being different from a perception sensor of the movable platform, and the perception sensor being used for detecting an obstacle in the surrounding environment of the movable platform. Photographing efficiency can be improved. Further provided are an image transmission method and apparatus, a device, a movable platform, a system, and a storage medium.

Description

Image display, transmission methods and apparatus, devices, mobile platforms, systems, and storage media Technical Field

[0001] This application relates to the field of image display, and more particularly to an image display and transmission method and apparatus, device, mobile platform, system, and storage medium. Background Technology

[0002] Currently, for panoramic videos captured by panoramic cameras, users can use editing software to create videos displaying two different perspectives simultaneously. For example, the first perspective could point in a specific shooting direction or target, while the second perspective could point towards the user carrying the panoramic camera. Displaying two different perspectives in the same video can improve the video quality. However, this dual-view video display effect can only be viewed through post-production editing, resulting in low shooting efficiency.

[0003] Summary of the Invention

[0004] Based on this, this application provides an image display and transmission method and apparatus, device, mobile platform, system, and storage medium that can improve shooting efficiency.

[0005] In a first aspect, embodiments of this application provide an image display method, including:

[0006] Acquire images captured during the operation of a mobile platform;

[0007] The system displays images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic imaging sensor of the mobile platform. The panoramic imaging sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

[0008] Secondly, embodiments of this application provide an image transmission method, including:

[0009] Acquire images captured during the operation of a mobile platform;

[0010] The images are sent to the control device of the mobile platform so that the control device can display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic imaging sensor of the mobile platform. The panoramic imaging sensor is different from the perception sensor of the mobile platform, which is used to detect obstacles in the environment around the mobile platform.

[0011] Thirdly, embodiments of this application provide an image display method, including:

[0012] Acquire images captured during the operation of a mobile platform;

[0013] The system displays images from a first-view perspective and images from a second-view perspective in real time. The images acquired by the mobile platform include images from the first-view perspective and images from the second-view perspective. The first-view perspective and the second-view perspective are different perspectives. The image from the first-view perspective is a partial image obtained from an image from a third-view perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first-view perspective in the image from the third-view perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

[0014] Fourthly, embodiments of this application provide an image transmission method, including:

[0015] Acquire images captured during the operation of a mobile platform;

[0016] The image is sent to the control device of the mobile platform so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view and the second view are different perspectives. The first view image is a partial image obtained from the third view image acquired by the shooting sensor of the mobile platform. The acquisition position of the first view image in the third view image can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0017] Fifthly, embodiments of this application provide an image display control device, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0018] Acquire images captured during the operation of a mobile platform;

[0019] The control display shows images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0020] Sixthly, embodiments of this application provide an image transmission apparatus, the apparatus comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0021] Acquire images captured during the operation of a mobile platform;

[0022] The control communication interface sends the image to the control device of the mobile platform, so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view image and the second view image are different perspectives. The first view image is obtained from the panoramic image acquired by the panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0023] In a seventh aspect, embodiments of this application provide an image display control device, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0024] Acquire images captured during the operation of a mobile platform;

[0025] The control display shows images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is a partial image obtained from the image from the third perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first perspective in the image from the third perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0026] Eighthly, embodiments of this application provide an image transmission apparatus, the apparatus comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0027] Acquire images captured during the operation of a mobile platform;

[0028] The control communication interface sends the image to the control device of the mobile platform, so that the control device can display the first-view image and the second-view image in real time. The image acquired by the mobile platform includes the first-view image and the second-view image, which are different perspectives. The first-view image is a partial image obtained from the third-view image acquired by the shooting sensor of the mobile platform. The acquisition position of the first-view image in the third-view image can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0029] Ninthly, embodiments of this application provide a control device, including a processor, a memory, and a display, wherein the memory is used to store computer programs;

[0030] The processor is used to execute the computer program and, when executing the computer program, performs the following steps: acquiring images collected by the mobile platform during operation;

[0031] The display is used to display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0032] In a tenth aspect, embodiments of this application provide a mobile platform, characterized in that the device includes: a memory, a processor, and a communication interface, wherein the memory is used to store computer programs;

[0033] The processor is used to execute the computer program and, when executing the computer program, performs the following steps: acquiring images collected by the mobile platform during operation;

[0034] The communication interface is used to send the image to the control device of the mobile platform, so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view and the second view are different perspectives. The first view image is obtained from the panoramic image acquired by the panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0035] Eleventhly, embodiments of this application provide a control device, including a processor, a memory, and a display, wherein the memory is used to store computer programs;

[0036] The processor is used to execute the computer program and, when executing the computer program, performs the following steps: acquiring images collected by the mobile platform during operation;

[0037] The display is used to display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is a partial image obtained from an image from a third perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first perspective in the image from the third perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0038] In a twelfth aspect, embodiments of this application provide a mobile platform, characterized in that the device includes: a memory, a processor, and a communication interface, wherein the memory is used to store computer programs;

[0039] The processor is used to execute the computer program and, when executing the computer program, performs the following steps: acquiring images collected by the mobile platform during operation;

[0040] The communication interface is used to send the image to the control device of the mobile platform, so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view and the second view are different perspectives. The first view image is a partial image obtained from the third view image acquired by the shooting sensor of the mobile platform. The acquisition position of the first view image in the third view image can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0041] In a thirteenth aspect, embodiments of this application provide an image transmission system: including a movable platform and a control device for the movable platform, wherein the movable platform and the control device are capable of communicating;

[0042] The mobile platform is used to acquire images collected during operation;

[0043] The mobile platform is also used to send the image to the control device;

[0044] The control device is used to display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

[0045] In a fourteenth aspect, embodiments of this application provide an image transmission system: including a movable platform and a control device for the movable platform, wherein the movable platform and the control device are capable of communicating;

[0046] The mobile platform is used to acquire images collected during operation;

[0047] The mobile platform is also used to send the image to the control device;

[0048] The control device is used to display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is a partial image obtained from an image from a third perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first perspective in the image from the third perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

[0049] In a fifteenth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the above-described method.

[0050] This application embodiment can display image information from at least two perspectives captured by the mobile platform in real time during the image acquisition process, thereby improving the richness of the displayed content and allowing users to preview the image information from at least two perspectives captured by the mobile platform in real time, thus improving shooting efficiency.

[0051] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 is a flowchart illustrating an image display method provided in an embodiment of this application;

[0054] Figure 2 is a schematic diagram of the control equipment and the mobile platform;

[0055] Figure 3A is a schematic diagram of a panoramic image, a first-view image, and a second-view image in one embodiment;

[0056] Figure 3B is a schematic diagram showing images from a first perspective and images from a second perspective in one embodiment;

[0057] Figure 3C is a top view of the relative position of the target being photographed and the movable platform in one embodiment;

[0058] Figure 3D is a schematic diagram of the field of view acquired by a panoramic imaging sensor on a mobile platform in one embodiment;

[0059] Figure 4 is a flowchart illustrating an image display method according to another embodiment of this application;

[0060] Figure 5 is a flowchart illustrating an image transmission method according to an embodiment of this application;

[0061] Figure 6 is a flowchart illustrating an image transmission method according to another embodiment of this application;

[0062] Figure 7 is a schematic diagram of an image display control device provided in an embodiment of this application;

[0063] Figure 8 is a schematic diagram of an image transmission device provided in an embodiment of this application;

[0064] Figure 9 is a schematic diagram of a control device provided in an embodiment of this application;

[0065] Figure 10 is a schematic diagram of a mobile platform provided in an embodiment of this application;

[0066] Figure 11 is a schematic diagram of an image transmission system provided in an embodiment of this application. Detailed Implementation

[0067] 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, 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.

[0068] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0069] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0070] Please refer to Figure 1, which is a flowchart illustrating an image display method provided in an embodiment of this application. The image display method can be applied to a control device of a mobile platform for processes such as displaying data acquired from the mobile platform.

[0071] Figure 2 shows a schematic diagram of the image transmission system provided in an embodiment of this application. The control system may include a movable platform and a control device, with the movable platform and control device communicatively connected. The control device can be used to acquire data from the movable platform and display it, and can also be used to control the movable platform.

[0072] The mobile platform can be a manned platform or an unmanned platform. It can be a land-based mobile platform, such as a land robot or a car; it can also be a water-based or underwater mobile platform; and it can be an air-based mobile platform, such as an aircraft, including multi-rotor aircraft, fixed-wing aircraft, and helicopters. The mobile platform can also be an amphibious mobile platform, such as a flying car. The following explanation uses an aircraft as an example to illustrate the implementation of this application.

[0073] In some embodiments, the aircraft includes a fuselage, a power system, and an imaging device. The fuselage may include a nose. In some embodiments, the aircraft also includes an arm connected to the fuselage, which is used to mount the power system; in other embodiments, the power system may be directly mounted on the fuselage. The power system provides flight propulsion for the aircraft and may include a motor and a propeller mounted on and driven by the motor. The power system can drive the fuselage to rotate about one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system drives the fuselage to rotate about the yaw axis, the yaw direction of the fuselage nose changes, meaning the yaw rotation of the fuselage can be controlled by controlling the power system. It should be understood that the motor can be a DC motor or an AC motor. Additionally, the motor can be a brushless motor or a brushed motor. The imaging device is directly mounted on or mounted on the fuselage via a gimbal for capturing images, which may be pictures and / or videos.

[0074] The control device may include at least one of a remote control, smartphone, tablet, wearable device, and server. The wearable device may include a head-mounted display, which may be a virtual reality (VR) display or a first-person view (FPV) display. In some embodiments, the control device may also include a terminal device for controlling the aircraft, such as operating equipment on a manned aircraft. The control device can establish a communication connection with the mobile platform via wired or wireless communication methods.

[0075] The control device may include an input device that can detect control operations performed by the user of the control device. The control device can then generate control commands for the aircraft based on these detected user control operations. For example, the control device can generate a yaw control command based on the yaw control operation detected by the user of the control device, and can then send the yaw control command to the aircraft.

[0076] In some embodiments, the control device includes a remote controller, which is equipped with an input device and a communication device. The communication device may be a wireless communication device, which can use private or public communication methods. The wireless communication device may include at least one of a high-frequency radio transceiver, a Wi-Fi module, and a Bluetooth module. The input device is used to generate corresponding control commands in response to user input, thereby enabling the remote controller to control the aircraft to adjust its flight attitude and / or flight speed through the control commands. The input device includes at least one of buttons, a joystick, a dial, and a touchscreen display. Users can generate control commands by using buttons, joysticks, or dials, or by inputting onto the touchscreen display; this is not limited to these methods.

[0077] In some embodiments, the control device can receive images transmitted by the aircraft and display them on the display device. The display device can be integrated into the control device, or the display device can be set separately from the control device and communicate with the control device. The communication connection can be a wired communication connection or a wireless communication connection. For example, the wireless communication connection can be a WiFi connection, a Bluetooth connection, or a high-frequency wireless signal connection.

[0078] Currently, for panoramic videos captured by panoramic cameras, users can use editing software to create videos displaying two different perspectives simultaneously. For example, the first perspective could point in a specific shooting direction or target, while the second perspective could point towards the user carrying the panoramic camera. Displaying two different perspectives in the same video can improve the video quality. However, this dual-view video display effect can only be viewed through post-production editing, resulting in low shooting efficiency.

[0079] Based on this, the present application provides an image display method. As shown in FIG1, the image display method of the present application includes steps S110 to S120, and the image display method is applied to the control device of a mobile platform.

[0080] Step S110: Acquire images captured by the mobile platform during operation.

[0081] The mobile platform can acquire images during operation and send these images to its control device. The operation of the mobile platform includes the process after it is powered on, such as the working process, the moving process, the hovering process, or the process of performing a task.

[0082] Step S120: Real-time display of images from the first perspective and images from the second perspective, wherein the images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by the panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0083] This application embodiment can display image information from at least two perspectives captured by a mobile platform in real time during image acquisition, improving the richness of the displayed content. This allows users to preview the image information from at least two perspectives while the mobile platform is acquiring images, thus improving shooting efficiency. Compared to methods that rely on post-processing software to create image information from at least two perspectives, this application embodiment can display such information more promptly and efficiently. Users can view image information from at least two perspectives while the mobile platform is acquiring images, gaining a better understanding of the shooting situation and effects from each perspective. This allows for timely adjustments to the composition during shooting, further enhancing shooting efficiency.

[0084] Acquiring images gathered by the mobile platform during operation can include: acquiring images gathered during operation sent by the mobile platform via a communication interface. The communication interface can be a wired interface or a wireless interface; the wireless interface can be a cellular network communication interface such as 4G / 5G, or a wireless network communication interface such as Wi-Fi or Bluetooth. Real-time display of first-view and second-view images can include: displaying first-view and second-view images in real time on a display. The control device is typically a smart portable device such as a mobile phone, remote control, or wearable device. The display of these smart portable devices is usually a small display. By simultaneously displaying first-view and second-view images on a small display, the richness of the display content can be significantly expanded, providing users with more display content. This allows users to fully understand the environmental information of the mobile platform from different viewing directions based on the multi-view content displayed on the display, thereby facilitating control of the mobile platform and improving its mobility safety. For example, a first-person perspective image can display the target being filmed, allowing users to quickly understand the quality of the captured footage. A second-person perspective image can display environmental information along the direction of movement of the mobile platform, enabling users to quickly understand the distribution of obstacles in that direction and avoid collisions, thus improving the platform's safety. Taking an aircraft as an example, as the aircraft flies at high speed, displaying both first-person and second-person perspective images on the control device allows remote users (who can control the aircraft remotely from a great distance) to fully understand the content displayed from different angles. This allows them to view the captured video quality and understand the distribution of obstacles in front of the aircraft during movement and filming, preventing collisions and potential crashes, and improving overall flight safety.

[0085] Optionally, acquiring images collected by the mobile platform during operation includes: acquiring images collected by the mobile platform during movement;

[0086] The real-time display of images from the first and second perspectives includes: displaying images from the first and second perspectives during the movement of the mobile platform.

[0087] Optionally, acquiring images captured by the mobile platform during operation includes: acquiring images captured by the mobile platform during shooting.

[0088] The real-time display of images from the first and second perspectives includes: displaying images from the first and second perspectives during the shooting process on the mobile platform.

[0089] Optionally, during the movement of the mobile platform, the mobile platform acquires images during operation and transmits the acquired images to the control device through a communication interface. The control device obtains the images acquired by the mobile platform during operation through the communication interface and displays the images from the first and second perspectives on a display. In this embodiment, the control device displays image information from at least two perspectives in real time during the movement of the mobile platform, which can improve the richness of the displayed content, provide the viewing user with richer content from different perspectives, facilitate the viewing of more screen content in the corresponding directions, and make it easier to control the movement of the mobile platform and ensure the safety of the mobile platform's movement.

[0090] The field of view (FOV) is used to characterize the range of the shooting field. The first and second perspectives are different perspectives, which may include different directions / orientations. For example, the central axes of the first and second perspectives may not coincide. For instance, the direction of the first perspective might be to the left of the movable platform, while the direction of the second perspective might be to the front of the movable platform. The first and second perspectives can be the same or different in size; for example, the first perspective could be 80 degrees, the second perspective could be 60 degrees, or both could be 80 degrees.

[0091] Specifically, the mobile platform is equipped with at least a panoramic imaging sensor, which can capture panoramic images. Optionally, the mobile platform may also include other types of imaging sensors or sensors for other purposes, such as perception sensors.

[0092] It should be noted that the panoramic imaging sensor in this embodiment differs from the sensing sensor of the mobile platform. The panoramic imaging sensor is primarily used for capturing images, while the sensing sensor is used to detect obstacles in the environment surrounding the mobile platform. For example, the sensing sensor may include an obstacle avoidance sensor. The mobile platform may or may not be equipped with this sensing sensor.

[0093] Optionally, a sensing sensor can be installed on the mobile platform. The sensing sensor is located on at least one side of the mobile platform. For example, the at least one side includes at least one of the front, rear, left, right, upper, and lower sides of the mobile platform. For instance, if a sensing sensor is installed on the front side of the mobile platform, in response to detecting an obstacle by the sensing sensor on the front side, the mobile platform stops moving forward or goes around it, and can also move backward to avoid colliding with the obstacle in front. For example, since the mobile platform is equipped with a panoramic shooting sensor, it can also have a sensing sensor installed only in the head direction to detect obstacles in front of the mobile platform. Typically, with a mobile platform equipped with a panoramic shooting sensor, the user can switch between first-person perspectives to view the scene content in various directions around the mobile platform. In this case, the mobile platform can have a sensing sensor installed only in the head direction, and the mobile platform can always move in the head direction. The sensing sensor installed in the head direction can continuously detect obstacles in front without changing the head direction to detect the distribution of obstacles in other directions of the mobile platform.

[0094] For example, the sensing sensor includes a vision sensor. This vision sensor can be a black-and-white vision sensor or a color vision sensor. Optionally, the vision sensor includes a monocular vision sensor and / or a binocular vision sensor. For instance, the movable platform has three monocular vision sensors on its upper side and three monocular vision sensors on its lower side. These six monocular vision sensors can detect obstacles in six directions: up, down, left, right, front, and back. Alternatively, the movable platform has monocular vision sensors at each of its four corners and a pair of binocular vision sensors on its lower side. These six monocular vision sensors can detect obstacles in six directions: up, down, left, right, front, and back.

[0095] Optionally, the first-person view image can be used to display the target being captured on the mobile platform, allowing the user to understand the display effect of the captured video / images. In this case, the orientation of the first-person view is related to the position of the target being captured within the panoramic image.

[0096] Optionally, the image from the second perspective is used to display an image from a preset perspective so that the user can understand the environmental information of that preset perspective.

[0097] Optionally, the preset viewing angle is determined based on the movement direction of the mobile platform. In this case, the image from the second viewing angle can serve as an auxiliary image for the user to check whether there are obstacles in the movement direction of the mobile platform. For example, if the movement direction of the mobile platform is located in the middle of the preset viewing angle, the user can understand the environmental information in the movement direction of the mobile platform and control the movement of the mobile platform according to the image from the preset viewing angle. For example, when the image from the preset viewing angle indicates that there is an obstacle in the movement direction of the mobile platform, the user can control the mobile platform to stop moving along that direction to prevent the mobile platform from colliding with the obstacle. When the movement direction of the mobile platform changes, the second viewing angle will also change accordingly, and the second viewing angle can always be oriented towards the current movement direction of the mobile platform. For example, a first-view image displays the target being photographed, while a second-view image displays environmental information about the direction of movement of the mobile platform. Thus, the control device can simultaneously display both the first-view image containing the target and the second-view image corresponding to the direction of movement of the mobile platform. By displaying at least two different perspectives on the display, the richness of the displayed content can be improved, and multiple perspectives can be output. This allows users to view the image information from at least two perspectives captured by the mobile platform in real time while it is capturing images or moving, preview the shooting effect in advance, and promptly understand the obstacle situation in the direction of movement of the mobile platform. This improves shooting efficiency and allows for timely control of the mobile platform's movement, preventing it from colliding with obstacles and enhancing the safety of the mobile platform's movement.

[0098] This application embodiment displays images showing the movement direction of the mobile platform, enabling obstacle avoidance in all movement directions, i.e., omnidirectional obstacle avoidance, to prevent collisions. For example, when the mobile platform moves towards the rear of the aircraft, an image from the corresponding rear viewpoint can be displayed to prevent collisions with obstacles behind the aircraft. Of course, the mobile platform can always move forward towards the nose, thus achieving obstacle avoidance in the movement direction.

[0099] Optionally, the preset viewing angle is determined based on the user's location. The second-view image is used to display image information of the user's location / direction, making it easier for the user to understand their surrounding environment. For example, the first-view image displays the shooting target, while the second-view image displays information about the user's location. This can improve the richness of the displayed content, allowing the user to view image information from at least two perspectives captured by the mobile platform in real time during image acquisition, preview the shooting effect in advance, and improve shooting efficiency.

[0100] The second-view image can also be obtained from the panoramic image. In this case, both the first-view and second-view images originate from the panoramic image. However, the directions / orientations of the first and second views are different, and consequently, the positions of the first-view image and the second-view image in the panoramic image are also different. The sizes of the first and second views can be the same or different. For example, both the first-view and second-view images can be color images, and their display resolution, clarity, and other parameters can be consistent, which can improve the display effect. It is understood that the embodiments of this application can reduce the number of obstacle avoidance sensors required for the mobile platform. For example, obstacle avoidance sensors can be set only in the head direction of the mobile platform, or the mobile platform can be without obstacle avoidance sensors. In this case, images from the perspective corresponding to the movement direction of the mobile platform can still be displayed, facilitating obstacle avoidance control. Of course, it is not limited to this. For example, the first-view image may originate from the panoramic image, and the second-view image may be obtained based on image information acquired from other types of shooting sensors besides the panoramic shooting sensor, such as a sensing sensor. As an example, the first-view image can be obtained from the panoramic image, and the second-view image can be obtained from the image acquired by the perception sensor. The first-view image can be a color image, and the second-view image can be a color image or a black and white image.

[0101] In some implementations, the second-view image is a partial image obtained from the panoramic image; optionally, the partial image is cropped from the panoramic image. For example, the second-view image is cropped from the panoramic image by the movable platform, or by the control device of the movable platform. In this case, both the first-view and second-view images can be cropped from the panoramic image. For instance, if the panoramic image is a horizontal 360-degree panoramic image, the first-view image is cropped from the left side of the tiled panoramic image, and the second-view image is cropped from the right side of the tiled panoramic image. See Figure 3A, which is a comparison diagram of the panoramic image, the first-view image, and the second-view image. Here, the panoramic image is a 360-degree panorama, and the first and second-view images have the same FOV, but they are different perspectives corresponding to different viewing directions, capturing different objects. The first-view image can be an image from the direction where the target is located, and the second-view image can be an image from the direction of movement of the movable platform.

[0102] Figure 3B illustrates a real-time display of images from both a first-viewpoint and a second-viewpoint. The second-viewpoint differs from the first-viewpoint, and the content in the second-viewpoint image may not be entirely the same as or completely different from the content in the first-viewpoint image. Even when the content in the second-viewpoint image is partially the same as that in the first-viewpoint image, real-time display of both images allows users to understand the same content from different perspectives. For example, the first-viewpoint could be the user's shooting perspective, and the second-viewpoint could be the perspective of the moving platform's direction of movement. Displaying the first-viewpoint image allows the user to view the target being shot, enabling them to understand the video quality in a timely manner. Displaying the second-viewpoint image allows the user to view the distribution of obstacles along the moving platform's direction of movement, allowing them to adjust the platform's direction promptly to avoid collisions.

[0103] In some embodiments, the method further includes: acquiring control commands input by a user and sending the control commands to the mobile platform to perform movement control on the mobile platform. For example, performing movement control on the mobile platform includes controlling the mobile platform to switch from a stationary state to a moving state or from a moving state to a stationary state; it may also control parameters such as the moving direction and / or moving speed of the mobile platform when it is in a moving state.

[0104] For example, during the process of the movable platform capturing images of the target, control commands input by the user are obtained. These control commands are used to control the movement of the movable platform. For instance, during image acquisition by the movable platform, the user can control the movement speed and / or direction of the movable platform based on the real-time displayed first-view and second-view images. The first and / or second views can be adjusted to ensure that the real-time displayed first-view and second-view images meet the composition requirements, achieving the user's desired shooting effect. For example, as shown in Figure 3C, which is a top view of the relative position of the target and the movable platform, the target is a stationary target. During the process of the movable platform following the target, the first-view can always face the target. Simultaneously, the user can input control commands to move the movable platform in a certain direction. For example, the user can control the movable platform to move forward to one side of the target. During the movement, the movable platform will first gradually approach the target and then gradually move away from it. Throughout the movement, the first-view remains facing the target, and the resulting image shows the target gradually increasing in size and then decreasing in size within the frame. During this process, the second-person perspective can display the view of the moving platform's direction of movement, making it easier for users to see the distribution of obstacles in the moving platform's direction of movement.

[0105] For example, the control device of the mobile platform can store real-time first-view and second-view images, and / or the control device can upload the real-time first-view and second-view images to a server for storage and / or distribution. Distribution from the server to terminal devices may include live streaming or video-on-demand. Storing these real-time images facilitates later viewing by users. Alternatively, since both the first-view and second-view images change in real time, the control device of the mobile platform can also promptly delete the displayed first-view and second-view images after displaying the previous frame, and update the display with the latest first-view and second-view images to save cache and avoid occupying storage space.

[0106] In some embodiments, the panoramic imaging sensor is used to capture and store images of the target, which can be pictures and / or videos. The target is the specific content the user wishes to capture; it can include moving or stationary targets. Moving targets include people, vehicles, ships, aircraft, etc., while stationary targets include buildings, geographical landscapes, etc. The stored images can be viewed by the user and shared with others.

[0107] In some implementations, the image from the first perspective is used to display the target being photographed. For example, if the user expects the target to always be included in the image from the first perspective, a follow-up or surround-view display of the target can be implemented.

[0108] In some implementations, the panoramic image captured by the panoramic sensor includes a horizontal panoramic image of at least 180 degrees. For example, the panoramic image includes a horizontal panoramic image of at least 360 degrees. Here, "horizontal" can refer to the horizontal plane relative to the movable platform's body, for example, the horizontal plane being the plane containing the roll and pitch axes of the movable platform; that is, the panoramic image includes a panoramic image of at least 180 degrees around the movable platform's body. For example, the panoramic image includes at least 180 degrees in front of the movable platform, or at least 180 degrees behind the movable platform, or at least 180 degrees to the left of the movable platform, or at least 180 degrees to the right of the movable platform; when the panoramic image includes a horizontal panoramic image of at least 360 degrees, the panoramic image includes an image surrounding the entire movable platform's body.

[0109] In some implementations, the panoramic images acquired by the panoramic imaging sensor include panoramic images with a vertical range of at least 180 degrees. For example, the panoramic images may include panoramic images with a vertical range of at least 360 degrees. Here, "vertical" can refer to a plane perpendicular to the roll and pitch axes of the movable platform. For instance, the panoramic image may include a panoramic image with a vertical range of at least 180 degrees between the plane containing the roll and yaw axes of the movable platform, or a panoramic image with a vertical range of at least 180 degrees between the plane containing the pitch and yaw axes of the movable platform.

[0110] In some embodiments, the panoramic image captured by the panoramic imaging sensor includes a panoramic image with a horizontal degree of at least 180 degrees and a vertical degree of at least 180 degrees. For example, the panoramic image includes a panoramic image with a horizontal degree of at least 360 degrees and a vertical degree of at least 360 degrees. For instance, the panoramic image may include at least a hemispherical panoramic image; when the panoramic image includes a panoramic image with a horizontal degree of at least 360 degrees and a vertical degree of at least 360 degrees, the panoramic image may be a spherical panoramic image. Referring to Figure 3D, the movable platform in Figure 3D may have imaging sensors disposed at the top and bottom. The field of view A of the upper imaging sensor and the field of view B of the lower imaging sensor may both be greater than or equal to 180 degrees. The upper imaging sensor can be used to capture a hemispherical panoramic image of the movable platform, and the lower imaging sensor can be used to capture a lower hemispherical panoramic image of the movable platform.

[0111] In some embodiments, the panoramic imaging sensor includes one or more imaging sensors. When the panoramic imaging sensor includes a single imaging sensor, this sensor may include, for example, a fisheye camera, which can capture images within a wider field of view. When the panoramic imaging sensor includes multiple imaging sensors, the shooting directions (i.e., the centerline direction of the field of view) of the multiple imaging sensors may be different. The images captured by the multiple imaging sensors can be used to obtain the aforementioned panoramic image through image stitching, image synthesis, or other methods. The multiple imaging sensors may include fisheye cameras and / or wide-angle cameras, or they may include one or more cameras with narrower field of view; the aforementioned panoramic image can also be obtained through image stitching, image synthesis, or other methods.

[0112] For example, the panoramic shooting sensor includes two shooting sensors. For instance, the shooting sensors can be fisheye lenses. Optionally, the optical axes of the two shooting sensors may be collinear or non-collinear, wherein if the optical axes of the two shooting sensors are collinear, their shooting directions are opposite. Optionally, the two shooting sensors can be integrated as a single unit or separately positioned at different locations on the movable platform, as shown in Figure 3C, with one shooting sensor positioned above and one below the movable platform.

[0113] When the panoramic imaging sensor includes two sensors, optionally, the two sensors are distributed vertically in the vertical direction of the movable platform, or horizontally or forward-backward in the horizontal direction of the movable platform. For example, when the optical axes of the two sensors are collinear and in the vertical direction of the movable platform (such as the yaw axis of an aircraft), the two sensors are distributed vertically in the vertical direction of the movable platform; for example, when the optical axes of the two sensors are collinear and in the left-right direction of the movable platform (such as the pitch axis of an aircraft), the two sensors are distributed horizontally in the horizontal direction of the movable platform; for example, when the optical axes of the two sensors are collinear and in the forward-backward direction of the movable platform (such as the roll axis of an aircraft), the two sensors are distributed forward-backward in the forward-backward direction of the movable platform. For instance, if each of the two sensors has a hemispherical viewing angle, a panoramic image with a spherical viewing angle can be obtained based on image stitching, image synthesis, or other methods.

[0114] In some implementations, step S120, which involves displaying the images from the first and second perspectives in real time, includes displaying both images on the same interface. As shown in Figure 3B, displaying the images from the first and second perspectives on the same interface, for example, may involve the first perspective image being positioned above and to the left of the second perspective image on the interface; however, this is not a limitation.

[0115] For example, the image from the second perspective occupies a portion of the image from the first perspective, or the image from the first perspective occupies a portion of the image from the second perspective; this can be referred to as a picture-in-picture layout. As shown in Figure 3B, when the image from the second perspective occupies a portion of the image from the first perspective, the area of ​​the area of ​​the image from the first perspective can be larger than the area of ​​the area of ​​the image from the second perspective, so that the user or others viewing the image can focus on the image from the first perspective. Similarly, when the image from the first perspective occupies a portion of the image from the second perspective, the area of ​​the area of ​​the image from the second perspective can be larger than the area of ​​the area of ​​the image from the first perspective, so that the user or others viewing the image can focus on the image from the second perspective.

[0116] Optionally, the method further includes: receiving user input; and in response to the input, switching between a first display mode in which the image from the second perspective occupies a portion of the image from the first perspective and a second display mode in which the image from the first perspective occupies a portion of the image from the second perspective. The user can adjust the display mode of the image from the first perspective and the image from the second perspective as needed, i.e., adjust the composition of the image from the first perspective and the image from the second perspective.

[0117] For example, referring to Figure 3B, when a user touches the displayed second-view image or the displayed first-view image, the display mode can be switched to the second display mode so that the user can focus on viewing the second-view image; of course, it is not limited to this, for example, it can switch between the first display mode and the second display mode in response to the user's operation of preset physical controls or displayed virtual controls on the control device.

[0118] In other embodiments, step S120, which involves displaying the images from the first and second perspectives in real time, includes displaying the images from the first and second perspectives on different interfaces. For example, the images from the first and second perspectives are displayed side-by-side vertically or horizontally. When displayed vertically, the heights of the images from the first and second perspectives can be the same or different; when displayed horizontally, the widths of the images from the first and second perspectives can be the same or different. Optionally, the heights of the images from the first and second perspectives can be adjusted by the user when displayed vertically, and the widths can be adjusted by the user when displayed horizontally, specifically according to the user's desired shooting composition.

[0119] In some embodiments, the image from the first perspective is a partial image obtained from the panoramic image. In other embodiments, the image from the first perspective is a complete image obtained from the panoramic image.

[0120] The panoramic images acquired by the panoramic imaging sensor include panoramic images with a horizontal degree of at least 180 degrees and / or a vertical degree of at least 180 degrees. The panoramic images have a higher probability of including the target. By obtaining a partial image including the target from the panoramic image as a first-view image or by taking the entire panoramic image as a first-view image, the displayed first-view image has a higher probability of including the target.

[0121] For example, the partial image is obtained by cropping from the panoramic image, which can improve the real-time performance of displaying the first-view image. However, this is not the only possibility; for instance, the partial image can be obtained by processing a portion of the panoramic image.

[0122] For example, the image from the first perspective is obtained by the mobile platform from the panoramic image. That is, the control device of the mobile platform can acquire the image from the first perspective from the mobile platform, and at least a portion of the panoramic image, excluding the image from the first perspective, may not need to be transmitted to the control device, thereby reducing the occupation of channel resources.

[0123] For example, the image acquired by the control device of the mobile platform in step S110 includes the panoramic image, and the first-view image is obtained by the control device of the mobile platform from the panoramic image. For instance, the control device of the mobile platform acquires a panoramic image captured by a panoramic sensor from the mobile platform, and obtains a first-view image from that panoramic image. When the user adjusts the first-view image, the adjusted first-view image can be promptly cropped from the panoramic image for display.

[0124] In some implementations, the acquisition position of the first-view image in the panoramic image can be switched based on the viewpoint indicated by the viewpoint switching command. When the first-view image is a partial image obtained from the panoramic image, adjusting the position of that partial image in the panoramic image based on the viewpoint switching command can update the first-view image displayed in step S120. For example, it can ensure that the target is always in the first-view image and / or switch the first-view image so that it is always facing the target, or it can switch the target in the first-view image.

[0125] For example, the perspective switching instruction indicates a perspective related to the user's intent. The image of the first perspective displayed in step S120 includes content and layout that conforms to the user's desired shooting composition. For instance, the perspective switching instruction is generated based on a user-input command.

[0126] Optionally, the perspective switching command is generated based on user information. Optionally, the user information includes the user's voice, gestures, posture, or movement parameters; wherein the movement parameters may include movement distance and / or movement direction. For example, the mobile platform or its control device can collect or detect the user information during operation, generate the perspective switching command based on the user information, and adjust the first perspective according to the perspective switching command. For example, the mobile platform can recognize user information such as gestures, posture, or movement parameters in panoramic images collected by a panoramic sensor, and generate the perspective switching command based on the user information. Alternatively, other sensors can be used to detect the user's voice, gestures, posture, or movement parameters. The mobile platform or its control device can preset a mapping relationship between voice, gestures, posture, or movement parameters and perspective switching commands. When the mobile platform or control device detects voice, gestures, posture, or movement parameters, it can map them to the corresponding perspective switching command. The perspective switching command may indicate the offset direction and / or offset amount of the first perspective. For example, when the voice prompt is "shift 10 degrees to the right", the instruction is to shift the current first-person viewpoint 10 degrees to the right; when the gesture is a gesture of raising the right hand or waving to the right, the instruction is to shift the current first-person viewpoint to the right, and the shift amount can be preset or related to the amplitude of the rightward waving gesture; when the posture is a rightward rotation posture, the instruction is to shift the current first-person viewpoint to the right, and the shift amount can be preset or related to the amplitude of the rightward rotation posture; when the movement parameter is that the user has moved 1 meter to the right, the instruction is to shift the current first-person viewpoint 10 degrees to the right.

[0127] Optionally, the viewpoint switching command is generated based on the command input by the user through the control device of the mobile platform.

[0128] The instructions input through the control device of the mobile platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

[0129] Optionally, the control device includes an attitude sensor, which detects the attitude of the control device and generates the viewpoint switching command based on the attitude of the control device. The movable platform or its control device can preset a mapping relationship between the attitude of the control device and the viewpoint switching command. When the movable platform or control device acquires the attitude of the control device, it can map it to the corresponding viewpoint switching command. For example, when the control device, such as a head-mounted display, rotates to the left, the first viewpoint shifts to the left based on the generated viewpoint switching command; when the control device rotates to the right, the first viewpoint shifts to the right based on the generated viewpoint switching command. The switching of the first viewpoint corresponds to the attitude change of the control device, such as the head-mounted display, conforming to user operating habits.

[0130] Optionally, the physical controls of the control device include a display interface, a joystick, buttons, or a dial. Referring to Figure 3B, the first-view perspective can be shifted in the direction of the sliding operation based on the user's sliding action on the first-view image in the interface; for example, the first-view perspective can be shifted to the right based on the user's right sliding angle in the first-view image. The first-view perspective can also be shifted in the direction of the tossing operation based on the user's operation on the joystick or dial, or it can be shifted in the direction corresponding to the preset button based on the user's operation on that preset button.

[0131] For example, the viewpoint switching instruction is automatically generated by the movable platform or the control device of the movable platform. The first-view image displayed in step S120 can be automatically updated, for example, so that the shooting target is always in the first-view image and / or the first-view image is switched so that it is always facing the shooting target, or the shooting target in the first-view image can be switched.

[0132] For example, the viewpoint switching command is automatically generated by the movable platform or its control device based on the position of the target in the panoramic image. For instance, as the target moves relative to the movable platform, the target's position in the panoramic image changes. In response to this change in the target's position, the first viewpoint can be adjusted and the image updated.

[0133] Optionally, the shooting target is a follower target of the movable platform. In response to changes in the position of the follower target in the panoramic image, the first viewing angle is adjusted so that the follower target remains within a preset area in the image from the first viewing angle, thus achieving follower display of the follower target.

[0134] Optionally, the target being photographed is determined automatically by the mobile platform or by the user.

[0135] For example, a mobile platform can automatically identify the target in a panoramic image, such as a target user or vehicle. Alternatively, the platform can identify a preset object in its preset direction as the target, or automatically identify a target located in the center of the frame. Identifying the target in a panoramic image, compared to identifying it in a first-person view, increases the probability of target detection and prevents the target from deviating from the preset area in the first-person view.

[0136] For example, the target is determined by the user within a displayed first-view and / or second-view image; however, it is not limited to this. For instance, the control device may display the panoramic image, and the target is determined by the user within the displayed panoramic image. Displaying the panoramic image may include displaying a tiled version of the panoramic image. For example, the user can select the target by drawing a box or clicking within the displayed image.

[0137] In some implementations, the size of the first viewpoint is adjustable. By adjusting the size of the first viewpoint, the field-of-view ratio between the first-view image and the second-view image displayed in step S120 can be adjusted, thereby adjusting the layout of the first-view image and the second-view image. For example, increasing the size of the first viewpoint can make it easier for the user to focus on the details in the first-view image.

[0138] For example, the size of the first viewpoint is adjusted based on user input instructions. That is, the size of the first viewpoint can be adjusted according to the user's intention.

[0139] For example, the size of the first viewpoint is adjusted based on user information. Optionally, the user information includes the user's voice, gestures, posture, or movement parameters; wherein the movement parameters may include movement distance and / or movement direction. For example, the mobile platform or its control device can detect the user information in real time and adjust the size of the first viewpoint based on the user information. For example, the mobile platform can identify user information such as gestures, posture, or movement parameters in panoramic images captured by a panoramic sensor and adjust the size of the first viewpoint according to the user information. Alternatively, other sensors can be used to detect the user's voice, gestures, posture, or movement parameters. The mobile platform or its control device can preset a mapping relationship between voice, gestures, posture, or movement parameters and the size of the first viewpoint. When the mobile platform or control device detects voice, gestures, posture, or movement parameters, it can map them to the corresponding size of the first viewpoint.

[0140] For example, the size of the first viewpoint is adjusted based on instructions input by the user through the control device of the mobile platform. Optionally, the instructions input through the control device of the mobile platform include posture adjusted by the control device or control instructions input through the physical controls of the control device.

[0141] Optionally, the control device includes an attitude sensor, which detects the attitude of the control device and adjusts the size of the first-viewpoint according to the attitude. The movable platform or its control device can preset a mapping relationship between the attitude of the control device and the size of the first-viewpoint. When the movable platform or control device acquires the attitude of the control device, it can map it to the corresponding size of the first-viewpoint. For example, when the control device, such as a head-mounted display, rotates to the left, the first-viewpoint is increased; when the control device rotates to the right, the first-viewpoint is decreased.

[0142] Optionally, the physical controls of the control device include a display interface, a joystick, buttons, or a dial. Referring to Figure 3B, the first-view perspective can be adjusted by the user's zooming in (e.g., increasing the distance between two touch points) and zooming out (e.g., decreasing the distance between two touch points). Alternatively, the first-view perspective can be adjusted by the user's preset toggle operation on the joystick or dial, or by the user's operation on preset buttons.

[0143] For example, the size of the first viewing angle is automatically adjusted by the movable platform or its control device. Specifically, the size of the first viewing angle is automatically adjusted by the movable platform or its control device based on the position and / or size of the target in the panoramic image. For instance, the first viewing angle may increase when the size of the target in the panoramic image increases, and decrease when the size of the target in the panoramic image decreases; the first viewing angle may increase when the target's position in the panoramic image is within a preset area of ​​the panoramic image, and decrease when the target's position in the panoramic image is outside the preset area of ​​the panoramic image, to ensure the target's display effect in the first viewing angle image.

[0144] For example, if the second-view image is derived from the panoramic image, the acquisition position of the second-view image within the panoramic image is adjustable. For instance, by adjusting the acquisition position of the second-view image within the panoramic image, the display of the second-view image can be switched to show an image from a perspective corresponding to the movement direction of the mobile platform or to display environmental information about the user's location, thus meeting different user needs.

[0145] For example, the position of the second-view image within the panoramic image is adjusted based on user-inputted instructions. For instance, the position of the second-view image within the panoramic image is adjusted based on instructions input by the user through the control device of the movable platform. Optionally, the instructions input through the control device include posture adjustments made through the control device or control instructions input through physical controls of the control device.

[0146] For example, referring to Figure 3B, the second-view image can be adjusted based on the user's click or swipe operation on the left side of the second-view image in the interface to display the left-side view of the movable platform; based on the user's click or swipe operation on the right side of the second-view image in the interface to display the right-side view of the movable platform; based on the user's click or swipe operation on the upper side of the second-view image in the interface to display the front view of the movable platform; based on the user's click or swipe operation on the lower side of the second-view image in the interface to display the rear view of the movable platform; and based on the user's click or swipe operation on the middle part of the second-view image in the interface to display the view in the direction of movement of the movable platform.

[0147] For example, the acquisition position of the second-view image in the panoramic image is automatically adjusted by the movable platform or its control device. For instance, the acquisition position of the second-view image in the panoramic image is automatically adjusted by the movable platform or its control device according to changes in the moving direction of the movable platform, so that the second-view image displays the image from the perspective of the moving direction of the movable platform. However, this is not limited to this. For example, the movable platform or its control device can determine the acquisition position of the second-view image in the panoramic image based on obstacle information from different perspectives. For instance, if the distance between an obstacle in a certain direction and the movable platform is less than a set threshold, then the image from the perspective corresponding to that direction is displayed, so that the user can promptly detect obstacles in that direction and control the movable platform to avoid them.

[0148] In other embodiments, the mobile platform may be equipped with a sensing sensor for detecting obstacles in the environment surrounding the mobile platform, wherein the second perspective image is obtained from a fourth perspective image acquired by the sensing sensor, the fourth perspective being larger than the second perspective.

[0149] For example, the perception sensor used to acquire the fourth-view image includes a binocular obstacle avoidance sensor. Compared with a panoramic sensor, the binocular obstacle avoidance sensor can acquire the depth information of the obstacle and display the second-view image obtained from the fourth-view image acquired by the binocular obstacle avoidance sensor. This can display the depth information of the obstacle and improve the richness of the content displayed in step S120.

[0150] For example, the acquisition position of the second-view image within the fourth-view image is adjustable. For instance, by adjusting the acquisition position of the second-view image within the fourth-view image, the second-view image can be switched to display an image of a target obstacle. The target obstacle can be an obstacle whose distance from the movable platform is less than a set threshold. For example, if the movable platform is equipped with multiple sensing sensors, each with a different perspective, and the fourth-view image includes images from each of these sensors, adjusting the acquisition position of the second-view image within the fourth-view image can be switched to display images from one or more of the sensing sensors' corresponding perspectives.

[0151] For example, the position of the second-view image within the fourth-view image is adjusted based on user-input instructions. This adjustment can be based on user voice, gestures, posture, or movement parameters, or on instructions input by the user through the control device of the mobile platform. Optionally, the instructions input through the control device include postures adjusted via the control device or control instructions input through the physical controls of the control device.

[0152] For example, referring to Figure 3B, the second-view image display can be adjusted based on the user's click or swipe operation on the left side of the second-view image in the interface, displaying the image acquired by the left-side sensing sensor of the movable platform; based on the user's click or swipe operation on the right side of the second-view image in the interface, displaying the image acquired by the right-side sensing sensor of the movable platform; based on the user's click or swipe operation on the upper side of the second-view image in the interface, displaying the image acquired by the front sensing sensor of the movable platform; based on the user's click or swipe operation on the lower side of the second-view image in the interface, displaying the image acquired by the rear sensing sensor of the movable platform; and based on the user's click on the middle side of the second-view image in the interface, displaying the image acquired by the lower sensing sensor of the movable platform.

[0153] For example, the position of the second-view image in the fourth-view image is automatically adjusted by the movable platform or its control device. For instance, the position of the second-view image in the fourth-view image is automatically adjusted by the movable platform or its control device according to changes in the moving direction of the movable platform, so that the second-view image displays the image from the perspective corresponding to the moving direction of the movable platform. However, this is not limited to this. For example, the movable platform or its control device can determine the position of the second-view image in the fourth-view image based on obstacle information from different perspectives. For instance, if the distance between an obstacle in a certain direction and the movable platform is less than a set threshold, the image acquired by the sensing sensor in that direction is displayed, allowing the user to promptly detect obstacles in that direction and control the movable platform to avoid them.

[0154] In some implementations, the size of the second viewpoint is adjustable. By adjusting the size of the second viewpoint, the field-of-view ratio between the first and second viewpoint images displayed in step S120 can be adjusted, thereby adjusting the layout of the first and second viewpoint images. For example, increasing the size of the second viewpoint can make it easier for the user to focus on the details of the second viewpoint image.

[0155] For example, the size of the second viewpoint is adjusted based on user input instructions. That is, the size of the second viewpoint can be adjusted according to the user's intention.

[0156] For example, the size of the second viewpoint is adjusted based on user information. Optionally, the user information includes the user's voice, gestures, posture, or movement parameters, wherein the movement parameters may include movement distance and / or movement direction. For example, the mobile platform or its control device can detect the user information in real time and adjust the size of the second viewpoint based on the user information. For example, the mobile platform can identify user information such as gestures, posture, or movement parameters in panoramic images captured by a panoramic sensor and adjust the size of the second viewpoint according to the user information. Alternatively, other sensors can be used to detect the user's voice, gestures, posture, or movement parameters. The mobile platform or its control device can preset a mapping relationship between voice, gestures, posture, or movement parameters and the size of the second viewpoint. When the mobile platform or control device detects voice, gestures, posture, or movement parameters, it can map them to the corresponding size of the second viewpoint.

[0157] For example, the size of the second viewpoint is adjusted based on instructions input by the user through the control device of the mobile platform. Optionally, the instructions input through the control device of the mobile platform include posture adjusted by the control device or control instructions input through the physical controls of the control device.

[0158] Optionally, the control device includes an attitude sensor, which detects the attitude of the control device and adjusts the size of the second viewpoint based on the attitude. The movable platform or its control device can preset a mapping relationship between the attitude of the control device and the size of the second viewpoint. When the movable platform or control device acquires the attitude of the control device, it can map it to the corresponding size of the second viewpoint. For example, when the control device, such as a head-mounted display, rotates to the left, the second viewpoint is increased; when the control device rotates to the right, the second viewpoint is decreased.

[0159] Optionally, the physical controls of the control device include a display interface, a joystick, buttons, or a dial. Referring to Figure 3B, the second-view perspective can be adjusted by the user's zooming in (e.g., increasing the distance between two touch points) and zooming out (e.g., decreasing the distance between two touch points). Alternatively, the second-view perspective can be adjusted by the user's preset toggle operation on the joystick or dial, or by the user's operation on preset buttons.

[0160] Before adjusting the size of the first-view or second-view image, the user can indicate whether the adjustment is for the first-view or second-view image. For example, the user can select the first-view image before adjusting the size of the first-view image.

[0161] For example, the size of the second viewpoint is automatically adjusted by the movable platform or the control device of the movable platform.

[0162] For example, the size of the second perspective is automatically adjusted by the movable platform or its control device based on the obstacle distribution in the shooting scene. Optionally, the obstacle distribution includes the density of obstacles. For example, the denser the obstacles in the shooting scene, the larger the second perspective is adjusted to fully display the obstacles in the scene and prevent collisions. Optionally, the obstacle distribution includes the distance between the obstacle and the movable platform. For example, the closer the obstacle is to the movable platform, the larger the second perspective is adjusted to fully display the obstacle and prevent the entire second perspective image from only showing a local area of ​​the obstacle, making it impossible for the user to fully identify the shape and type of the obstacle.

[0163] For example, the size of the second perspective is adjusted by the movable platform or its control device based on the display ratio of the first perspective image to the second perspective image. For instance, the smaller the area of ​​the second perspective image, the smaller the second perspective is adjusted to clearly display the content in the second perspective image; conversely, the larger the area of ​​the second perspective image, the larger the second perspective is adjusted to display more of the content in the second perspective image.

[0164] In some embodiments, the method further includes displaying the panoramic image. For example, the panoramic image can be switched on and off based on user operation, or the image from the first perspective and the image from the second perspective can be switched on and off. However, this is not limited to these methods; for example, the image from the first perspective, the image from the second perspective, and the panoramic image can be displayed simultaneously.

[0165] For example, the panoramic image is used by the user to select the shooting target of the mobile platform or to adjust the display angle of the first viewpoint image and / or the second viewpoint image. The panoramic image acquired by the panoramic shooting sensor includes a panoramic image with at least 180 degrees horizontally and / or at least 180 degrees vertically. By displaying this panoramic image, the user can easily select the shooting target of the mobile platform within a wider range, and more flexibly adjust the display angle of the first viewpoint image and / or the second viewpoint image.

[0166] For example, a selection box is displayed in the panoramic image, which is used by the user to select the shooting target of the movable platform or adjust the display angle of the first viewpoint image and / or the second viewpoint image. However, this is not the only possibility; for instance, the user can click to select the shooting target in the panoramic image.

[0167] The image display method provided in this application includes: acquiring images captured by a mobile platform during operation; and displaying images from a first perspective and a second perspective in real time. The images include both the first and second perspectives, which are different viewpoints. The first perspective image is obtained from a panoramic image captured by a panoramic sensor on the mobile platform. This panoramic sensor differs from the sensing sensor on the mobile platform, which is used to detect obstacles in the surrounding environment. This method allows for the real-time display of image information from at least two perspectives captured by the mobile platform during image acquisition, enhancing the richness of the displayed content and enabling users to preview the image information from at least two perspectives in real time, thereby improving shooting efficiency.

[0168] Please refer to Figure 4 in conjunction with the foregoing embodiments. Figure 4 is a schematic flowchart of an image display method provided in another embodiment of this application. This image display method is applied to a control device of a mobile platform. As shown in Figure 4, the image display method of this embodiment includes steps S210 to S220.

[0169] Step S210: Acquire images captured by the mobile platform during operation.

[0170] The mobile platform can acquire images collected during operation and send the images acquired by the mobile platform to the control device of the mobile platform.

[0171] Step S220: Real-time display of images from a first perspective and images from a second perspective. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is a partial image obtained from the image from the third perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first perspective in the image from the third perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0172] This application embodiment can also display image information from at least two perspectives captured by the mobile platform in real time during image acquisition, improving the richness of the displayed content. This allows users to view the image information from at least two perspectives captured by the mobile platform in real time during image acquisition, adjust the shooting angle, preview the shooting effect, and improve shooting efficiency. Compared to methods that rely on post-processing software to create image information from at least two perspectives, this application embodiment can display image information from at least two perspectives more promptly and efficiently. This allows users to view image information from at least two perspectives while the mobile platform is acquiring images, gaining a better understanding of the shooting situation and effects from different angles. This enables timely adjustments to the composition during shooting, thereby improving shooting efficiency.

[0173] Acquiring images captured by the mobile platform during operation can include: acquiring images captured during operation sent by the mobile platform through a communication interface. The communication interface can be a wired interface or a wireless interface. The wireless interface can be a cellular network communication interface such as 4G / 5G, or a wireless network communication interface such as Wi-Fi or Bluetooth. Real-time display of first-view and second-view images can include: displaying first-view and second-view images in real time on a display. The control device is typically a smart portable device such as a mobile phone, remote control, or wearable device. The display of these smart portable devices is usually a small display. By simultaneously displaying first-view and second-view images on a small display, the richness of the display content can be significantly expanded, providing users with more display content. This allows users to fully understand the environmental information of the mobile platform from different viewing directions based on the multi-view content displayed on the display. For example, the first-view image can display the shooting target, allowing users to know the shooting effect in time. The second-view image can display environmental information in the direction of movement of the mobile platform, allowing users to know the distribution of obstacles in the direction of movement of the mobile platform in time, avoiding collisions with obstacles during movement and improving the safety of the mobile platform. Taking a mobile platform as an example, the aircraft flies at high speed in the air. By displaying first-person and second-person perspective images through the control device, it is convenient for remote users (who can control the aircraft remotely from a great distance) to fully understand the content displayed from different perspectives. Thus, during the movement of the mobile platform and the filming process, users can view the video effects in a timely manner and understand the distribution of obstacles in front of the aircraft, avoiding the problem of the aircraft crashing into obstacles and improving the flight safety of the aircraft.

[0174] Optionally, acquiring images collected by the mobile platform during operation includes: acquiring images collected by the mobile platform during movement;

[0175] The real-time display of images from the first and second perspectives includes: displaying images from the first and second perspectives during the movement of the mobile platform.

[0176] Optionally, acquiring images captured by the mobile platform during operation includes: acquiring images captured by the mobile platform during shooting.

[0177] The real-time display of images from the first and second perspectives includes: displaying images from the first and second perspectives during the shooting process on the mobile platform.

[0178] Optionally, during the movement of the mobile platform, the mobile platform acquires images during operation and transmits the acquired images to the control device through a communication interface. The control device obtains the images acquired by the mobile platform during operation through the communication interface and displays the images from the first and second perspectives on a display. In this embodiment, the control device displays image information from at least two perspectives in real time during the movement of the mobile platform, which can improve the richness of the displayed content, provide the viewing user with richer content from different perspectives, facilitate the viewing of more screen content in the corresponding directions, and make it easier to control the movement of the mobile platform and ensure the safety of the mobile platform's movement.

[0179] The field of view (FOV) is used to characterize the range of the shooting field. The first and second perspectives are different perspectives, which may include different directions / orientations. For example, the central axes of the first and second perspectives may not coincide. For instance, the direction of the first perspective might be to the left of the movable platform, while the direction of the second perspective might be to the front of the movable platform. The first and second perspectives can be the same or different in size; for example, the first perspective could be 80 degrees, the second perspective could be 60 degrees, or both could be 80 degrees.

[0180] The difference between the image display method shown in Figure 4 and the image display method shown in Figure 1 is that the shooting sensor is not limited to a panoramic shooting sensor. The first-view image is a partial image obtained from the third-view image captured by the shooting sensor, and the acquisition position of the first-view image in the third-view image can be switched based on the shooting angle indicated by the viewpoint switching command.

[0181] In some embodiments, the imaging sensor is used to capture and store images of the target, which may be pictures and / or videos. The target is the specific content the user wishes to capture; it may include movable or stationary targets. Movable targets include people, vehicles, ships, aircraft, etc., while stationary targets include buildings, geographical landscapes, etc. The stored images can be viewed by the user and shared with others.

[0182] In some implementations, the third viewpoint is at least 1.4 times larger than the first viewpoint, so as to acquire images of the first viewpoint from different shooting angles in the image of the third viewpoint according to the viewpoint switching command. For example, the third viewpoint is 180 degrees and the first viewpoint is 80 degrees.

[0183] In some implementations, the third-view image includes a panoramic image or a wide-angle image, and correspondingly, the shooting sensor includes a panoramic shooting sensor or a wide-angle camera, which can capture wide-angle images with a wider field of view.

[0184] It is understood that in the embodiment shown in Figure 4, the first-view image is not limited to being obtained from the aforementioned panoramic image, but can also be obtained from a wide-angle image. That is, the first-view image can be a partial image obtained from the third-view image captured by the shooting sensor of the mobile platform.

[0185] The wide-angle image includes a wide-angle image with a horizontal angle of at least 100 degrees; or the wide-angle image includes a wide-angle image with a vertical angle of at least 100 degrees; or the wide-angle image includes a wide-angle image with a horizontal angle of at least 100 degrees and a vertical angle of at least 100 degrees.

[0186] Wide-angle images captured by a wide-angle camera include panoramic images with a horizontal angle of at least 100 degrees and / or a vertical angle of at least 100 degrees. Wide-angle images have a higher probability of including the subject compared to images with a lower angle of view, such as an 80-degree angle of view. By obtaining a partial image including the subject from the wide-angle image as a first-view image, the displayed first-view image has a higher probability of including the subject.

[0187] In some embodiments, the sensing sensor is disposed on at least one side of the movable platform, the at least one side including at least one of the front, rear, left, right, upper, and lower sides of the movable platform. Exemplarily, the sensing sensor includes a vision sensor, which includes a monocular vision sensor and / or a binocular vision sensor.

[0188] The shooting angle indicated by the perspective switching command refers to the shooting angle that the perspective switching command can indicate, either the user's desired shooting angle or the desired shooting angle automatically determined by the movable platform / control device. The shooting angle indicated by the perspective switching command can be a partial perspective indicated from a third-person perspective. For example, the desired shooting angle can be a perspective from a slightly off-center position in the third-person perspective, or it can be a partial perspective in the third-person perspective image that includes the target being shot.

[0189] In some implementations, the position of the first perspective in the third perspective is adjusted based on the shooting perspective indicated by the perspective switching command, and the image of the first perspective displayed in step S220 can be updated. For example, the shooting target can always be in the image of the first perspective and / or the image of the first perspective can be switched to always face the shooting target.

[0190] For example, the shooting angle indicated by the perspective switching instruction is related to the user's intent. The image of the first perspective displayed in step S120 includes content and layout that conforms to the user's desired shooting composition. For instance, the perspective switching instruction is generated based on a user-input command.

[0191] Optionally, the perspective switching instruction is generated based on user information. Optionally, the user information includes the user's voice, gestures, posture, or movement parameters; wherein the movement parameters may include movement distance and / or movement direction. For example, the mobile platform or its control device can collect or detect the user information during operation, generate the perspective switching instruction based on the user information, and adjust the first perspective according to the shooting perspective indicated by the perspective switching instruction. For example, the mobile platform can recognize user information such as gestures, posture, or movement parameters in the third-view image collected by the shooting sensor, and generate the perspective switching instruction based on the user information. Alternatively, other sensors can be used to detect the user's voice, gestures, posture, or movement parameters. The mobile platform or its control device can preset a mapping relationship between voice, gestures, posture, or movement parameters and perspective switching instructions. When the mobile platform or control device detects voice, gestures, posture, or movement parameters, it can map them to the corresponding perspective switching instruction. The perspective switching instruction may indicate the offset direction and / or offset amount of the first perspective. For example, when the voice prompt is "shift 10 degrees to the right", the instruction is to shift the current first-person viewpoint 10 degrees to the right; when the gesture is a gesture of raising the right hand or waving to the right, the instruction is to shift the current first-person viewpoint to the right, and the shift amount can be preset or related to the amplitude of the rightward waving gesture; when the posture is a rightward rotation posture, the instruction is to shift the current first-person viewpoint to the right, and the shift amount can be preset or related to the amplitude of the rightward rotation posture; when the movement parameter is that the user has moved 1 meter to the right, the instruction is to shift the current first-person viewpoint 10 degrees to the right.

[0192] Optionally, the viewpoint switching command is generated based on the command input by the user through the control device of the mobile platform.

[0193] The instructions input through the control device of the mobile platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

[0194] Optionally, the control device includes an attitude sensor, which detects the attitude of the control device and generates the viewpoint switching command based on the attitude of the control device. The movable platform or its control device can preset a mapping relationship between the attitude of the control device and the viewpoint switching command. When the movable platform or control device acquires the attitude of the control device, it can map it to the corresponding viewpoint switching command. For example, when the control device, such as a head-mounted display, rotates to the left, the first viewpoint shifts to the left based on the generated viewpoint switching command; when the control device rotates to the right, the first viewpoint shifts to the right based on the generated viewpoint switching command. The switching of the first viewpoint corresponds to the attitude change of the control device, such as the head-mounted display, conforming to user operating habits.

[0195] Optionally, the physical controls of the control device include a display interface, a joystick, buttons, or a dial. Referring to Figure 3B, the first-view perspective can be shifted in the direction of the sliding operation based on the user's sliding action on the first-view image in the interface; for example, the first-view perspective can be shifted to the right based on the user's right sliding angle in the first-view image. The first-view perspective can also be shifted in the direction of the tossing operation based on the user's operation on the joystick or dial, or it can be shifted in the direction corresponding to the preset button based on the user's operation on that preset button.

[0196] For example, the viewpoint switching instruction is automatically generated by the movable platform or the control device of the movable platform. The first-view image displayed in step S220 can be automatically updated, for example, to ensure that the target is always in the first-view image and / or to switch the first-view image so that it is always facing the target, or to switch the target in the first-view image.

[0197] For example, the viewpoint switching command is automatically generated by the movable platform or its control device based on the position of the target in the third-view image. For instance, as the target moves relative to the movable platform, its position in the panoramic image changes. In response to this change in the target's position in the third-view image, the first viewpoint can be adjusted and the first-view image updated.

[0198] In some implementations, the image from the first perspective is used to display the target being photographed.

[0199] Optionally, the image from the first perspective is obtained by cropping from the image from the third perspective. For example, the image from the first perspective is obtained by the mobile platform by cropping from the image from the third perspective; or, the image acquired by the mobile platform includes the image from the third perspective, and the image from the first perspective is obtained by the control device of the mobile platform by cropping from the image from the third perspective.

[0200] Optionally, the size of the first viewpoint is adjustable. For example, the size of the first viewpoint is adjusted based on user input instructions. For example, the size of the first viewpoint is adjusted based on user information, which may include the user's voice, gestures, posture, or movement parameters. For example, the size of the first viewpoint is adjusted based on instructions input by the user through the control device of the mobile platform. Optionally, the instructions input through the control device of the mobile platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

[0201] Optionally, the size of the first viewpoint is automatically adjusted by the movable platform or its control device. For example, the size of the first viewpoint is automatically adjusted by the movable platform or its control device based on the position and / or size of the target in the image from the third viewpoint.

[0202] In some implementations, the image from the second perspective is used to display an image from a preset perspective. For example, the preset perspective is determined based on the movement direction of the movable platform. Or, the preset perspective is determined based on the user's location.

[0203] In some implementations, the image from the second perspective is obtained from the image from the third perspective. Optionally, the acquisition position of the image from the second perspective within the image from the third perspective is adjustable. For example, the acquisition position of the image from the second perspective within the image from the third perspective is adjusted based on user input instructions. For example, the acquisition position of the image from the second perspective within the image from the third perspective is automatically adjusted by the movable platform or its control device. Optionally, the acquisition position of the image from the second perspective within / in the image from the third perspective is automatically adjusted by the movable platform or its control device according to changes in the moving direction of the movable platform. In this case, both the image from the first perspective and the image from the second perspective can be obtained by cropping from the image from the third perspective. For example, if the image from the third perspective is a horizontal 360-degree panoramic image, the image from the first perspective is obtained by cropping from the left side of the tiled panoramic image, and the image from the second perspective is obtained by cropping from the right side of the tiled panoramic image. See Figure 3A, which is a comparison diagram of the panoramic image, the image from the first perspective, and the image from the second perspective. Among them, the panoramic image is a 360-degree panorama. The FOV size of the first-view and second-view images is the same, but the first-view and second-view images are different perspectives, corresponding to different viewing directions, and shooting different objects. The image of the first-view image can be an image of the direction in which the target is located, and the image of the second-view image can be an image of the direction of movement of the movable platform.

[0204] In some embodiments, the image from the second perspective is obtained from an image from a fourth perspective acquired by the sensing sensor, the fourth perspective being larger than the second perspective. For example, the acquisition position of the image from the second perspective within the image from the fourth perspective is adjustable. For instance, the acquisition position of the image from the second perspective within the image from the fourth perspective is adjusted based on user input instructions. Alternatively, the acquisition position of the image from the second perspective within the image from the fourth perspective is automatically adjusted by the mobile platform or its control device. Optionally, the acquisition position of the image from the second perspective within the image from the fourth perspective is automatically adjusted by the mobile platform or its control device according to changes in the moving direction of the mobile platform.

[0205] In some implementations, the size of the second perspective is adjustable. For example, the size of the second perspective is adjusted based on user input commands. Alternatively, the size of the second perspective is adjusted based on user information, including the user's voice, gestures, posture, or movement parameters. For example, the size of the second perspective is adjusted based on commands input by the user through the control device of the mobile platform; optionally, the commands input through the control device include postures adjusted by the control device or control commands input through the physical controls of the control device. Alternatively, the size of the second perspective is automatically adjusted by the mobile platform or its control device; optionally, the size of the second perspective is automatically adjusted by the mobile platform or its control device based on the obstacle distribution in the shooting scene, where obstacle distribution may include obstacle density.

[0206] In some embodiments, the control device of the mobile platform also displays a third-person perspective image.

[0207] Optionally, the third-view image is used by the user to select a shooting target for the mobile platform or to adjust the display perspective of the first-view image and / or the second-view image. For example, a selection box is displayed in the third-view image, which is used by the user to select a shooting target for the mobile platform or to adjust the display perspective of the first-view image and / or the second-view image.

[0208] Optionally, the shooting target is a follower target of the movable platform. In response to a change in the position of the follower target in the third viewpoint, the first viewpoint is adjusted so that the follower target remains within a preset area of ​​the image in the first viewpoint, thus achieving follow-up display of the follower target.

[0209] The image display method provided in this application includes: acquiring images captured by a mobile platform during operation; and displaying images from a first perspective and a second perspective in real time. The images include both the first and second perspectives, which are different viewpoints. The first perspective image is a partial image acquired from a third perspective image captured by a camera sensor on the mobile platform. The acquisition position of the first perspective image within the third perspective image can be switched based on a camera perspective indicated by a viewpoint switching command. The camera sensor is different from the sensing sensor of the mobile platform, which is used to detect obstacles in the environment surrounding the mobile platform. This method allows for the real-time display of image information from at least two perspectives captured by the mobile platform during image acquisition, improving the richness of the displayed content. It also facilitates users viewing the image information from at least two perspectives captured by the mobile platform in real time, and allows for adjustment of the camera perspective to preview the shooting effect, thus improving shooting efficiency.

[0210] The specific principles and implementation methods of the image display method provided in this application embodiment are similar to those of the image display methods in the foregoing embodiments, and will not be repeated here. Furthermore, any parts not mentioned in this application embodiment can be referred to the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0211] Please refer to Figure 5 in conjunction with the foregoing embodiments. Figure 5 is a schematic flowchart of an image transmission method provided in another embodiment of this application, which is applied to a mobile platform. As shown in Figure 5, the image transmission method of this embodiment includes steps S310 to S320.

[0212] Step S310: Acquire images captured by the mobile platform during operation.

[0213] Step S320: Send the image to the control device of the mobile platform so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view and the second view are different perspectives. The first view image is obtained from the panoramic image acquired by the panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0214] Acquiring images captured by the mobile platform during operation can include: acquiring images captured by the mobile platform during operation through a panoramic imaging sensor.

[0215] The specific principles and implementation of the image transmission method provided in this application are similar to the image display method in the foregoing embodiments, and will not be repeated here. Furthermore, any parts not mentioned in this application's embodiments can be referred to the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0216] Please refer to Figure 6 in conjunction with the foregoing embodiments. Figure 6 is a schematic flowchart of an image transmission method provided in another embodiment of this application, which is applied to a mobile platform. As shown in Figure 6, the image transmission method of this embodiment includes steps S410 to S420.

[0217] Step S410: Acquire images captured by the mobile platform during operation.

[0218] Step S420: Send the image to the control device of the mobile platform so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view and the second view are different perspectives. The first view image is a partial image obtained from the third view image acquired by the shooting sensor of the mobile platform. The acquisition position of the first view image in the third view image can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

[0219] Acquiring images captured by the mobile platform during operation can include: acquiring images captured by the mobile platform during operation through a camera sensor.

[0220] The specific principles and implementation of the image transmission method provided in this application are similar to the image display method in the foregoing embodiments, and will not be repeated here. Furthermore, any parts not mentioned in this application's embodiments can be referred to the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0221] Please refer to FIG7 in conjunction with the above embodiments. FIG7 is a schematic block diagram of the image display control device 60 provided in the embodiments of this application. The image display control device 60 includes a memory 61 and a processor 62. The memory 61 is used to store a computer program; the processor 62 is used to execute the computer program and, when executing the computer program, implement the steps of the image display method of the foregoing embodiments.

[0222] In some embodiments, the processor 62 is configured to execute the computer program and, while executing the computer program, perform the following steps: acquiring images collected by the mobile platform during operation via a communication interface; controlling a display to display images from a first perspective and images from a second perspective in real time, wherein the images collected by the mobile platform include images from the first perspective and images from the second perspective, the first perspective and the second perspective being different perspectives, the first perspective image being obtained from panoramic images collected by a panoramic imaging sensor of the mobile platform, the panoramic imaging sensor being different from the perception sensor of the mobile platform, the perception sensor being used to detect obstacles in the environment surrounding the mobile platform.

[0223] In some embodiments, the processor 62 is configured to execute the computer program and, while executing the computer program, perform the following steps: acquiring images collected by the mobile platform during operation via a communication interface; controlling the display to display images from a first perspective and images from a second perspective in real time, wherein the images collected by the mobile platform include images from the first perspective and images from the second perspective, the first perspective and the second perspective are different perspectives, the image from the first perspective is a partial image obtained from an image from a third perspective collected by the shooting sensor of the mobile platform, the acquisition position of the image from the first perspective in the image from the third perspective can be switched based on the shooting perspective indicated by the perspective switching command, the shooting sensor is different from the perception sensor of the mobile platform, the perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

[0224] The specific principles and implementation methods of the device provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0225] Please refer to FIG8 in conjunction with the above embodiments. FIG8 is a schematic block diagram of the image transmission device 70 provided in the embodiments of this application. The image transmission device 70 includes a memory 71 and a processor 72. The memory 71 is used to store a computer program; the processor 72 is used to execute the computer program and, when executing the computer program, implement the steps of the image transmission method of the foregoing embodiments.

[0226] In some embodiments, the processor 72 is configured to execute the computer program and, when executing the computer program, perform the following steps: acquiring images collected by the mobile platform during operation via a panoramic imaging sensor; and sending the images to the control device of the mobile platform via a control communication interface, so that the control device displays images from a first perspective and images from a second perspective in real time. The images collected by the mobile platform include images from the first perspective and images from the second perspective, which are different perspectives. The image from the first perspective is obtained from a panoramic image collected by the panoramic imaging sensor of the mobile platform. The panoramic imaging sensor is different from the perception sensor of the mobile platform, which is used to detect obstacles in the environment surrounding the mobile platform.

[0227] In some embodiments, the processor 72 is configured to execute the computer program and, when executing the computer program, implement the following steps: acquiring images collected by the mobile platform during operation via a camera sensor; and sending the images to the control device of the mobile platform via a control communication interface, so that the control device displays images from a first perspective and images from a second perspective in real time. The images collected by the mobile platform include images from the first perspective and images from the second perspective, which are different perspectives. The image from the first perspective is a partial image obtained from images from a third perspective acquired by the camera sensor of the mobile platform. The acquisition position of the image from the first perspective within the third perspective image can be switched based on the shooting perspective indicated by a perspective switching command. The camera sensor is different from the sensing sensor of the mobile platform, which is used to detect obstacles in the environment surrounding the mobile platform.

[0228] The specific principles and implementation methods of the device provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0229] Please refer to Figure 9 in conjunction with the above embodiments. Figure 9 is a schematic block diagram of the control device 80 provided in this application embodiment. The control device 80 includes a memory 81, a processor 82, and a display 83. The memory 81 is used to store computer programs; the processor 82 is used to execute the computer programs and, when executing the computer programs, implement the steps of the image display method of the aforementioned embodiments; the display 83 is used to display images. The specific principles and implementation methods of the device provided in this application embodiment are similar to the methods of the aforementioned embodiments, and will not be repeated here. The control device 80 may also include a communication interface 84 for acquiring images collected by the mobile platform during operation. The memory 81, processor 82, display 83, and communication interface 84 can be connected via a bus.

[0230] Please refer to Figure 10 in conjunction with the above embodiments. Figure 10 is a schematic block diagram of a movable platform 90 provided in this application embodiment. The movable platform 90 includes a memory 91, a processor 92, and a communication interface 93. The memory 91, processor 92, and communication interface 93 can be interconnected, for example, by establishing a connection through a bus. The memory 91 is used to store a computer program; the processor 92 is used to execute the computer program and, when executing the computer program, implement the steps of the image transmission method of the aforementioned embodiments. The specific principles and implementation methods of the device provided in this application embodiment are similar to the methods of the aforementioned embodiments, and will not be repeated here.

[0231] Referring to Figure 11 in conjunction with the above embodiments, this application also provides an image transmission system 100, including a movable platform 1001 and a control device 1002 for the movable platform 1001. The movable platform 1001 and the control device 1002 are capable of communication, for example, via wired or wireless means. The movable platform 1001 is used to acquire images collected during operation. The movable platform 1001 is also used to send the images to the control device 1002. The control device 1002 is used to display images from a first perspective and images from a second perspective in real time. The images include images from the first perspective and images from the second perspective, which are different perspectives. The image from the first perspective is obtained from a panoramic image captured by a panoramic imaging sensor of the movable platform. The panoramic imaging sensor is different from the perception sensor of the movable platform, which is used to detect obstacles in the environment surrounding the movable platform. The specific principles and implementation methods of the system provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0232] In another embodiment, the mobile platform 1001 is used to acquire images collected during operation;

[0233] The mobile platform 1001 is also used to send the image to the control device 1002;

[0234] The control device 1002 is used to display images from a first perspective and images from a second perspective in real time. The images include both the first and second perspectives, which are different viewpoints. The first perspective image is a partial image acquired from a third perspective image captured by the shooting sensor of the mobile platform. The acquisition position of the first perspective image within the third perspective image can be switched based on the shooting perspective indicated by a viewpoint switching command. The shooting sensor is different from the perception sensor of the mobile platform, which is used to detect obstacles in the environment surrounding the mobile platform. The specific principles and implementation methods of the system provided in this application embodiment are similar to the methods of the foregoing embodiments, and will not be repeated here.

[0235] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the method provided in the above embodiments.

[0236] The computer-readable storage medium may be an internal storage unit of the device, apparatus, or portable platform described in any of the foregoing embodiments, such as a hard disk or memory of the device, apparatus, or portable platform. The computer-readable storage medium may also be an external storage device of the device, apparatus, or portable platform, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the device, apparatus, or portable platform.

[0237] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application.

[0238] It should also be understood that the term “and / or” as used in this application and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0239] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An image display method, characterized in that, include: Acquire images captured by the mobile platform during operation; The system displays images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic imaging sensor of the mobile platform. The panoramic imaging sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

2. An image transmission method, characterized in that, include: Acquire images captured during the operation of a mobile platform; The images are sent to the control device of the mobile platform so that the control device can display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic imaging sensor of the mobile platform. The panoramic imaging sensor is different from the perception sensor of the mobile platform, which is used to detect obstacles in the environment around the mobile platform.

3. The method according to claim 1 or 2, characterized in that, The image from the first perspective is used to display the target being photographed.

4. The method according to claim 1 or 2, characterized in that, The image from the first perspective is either a partial or complete image obtained from the panoramic image.

5. The method according to claim 4, characterized in that, The partial image is obtained by cropping from the panoramic image.

6. The method according to claim 5, characterized in that, The image from the first perspective was obtained by the movable platform from the panoramic image; or, The images acquired by the mobile platform include the panoramic images, and the first-view image is obtained by cropping from the panoramic images by the control device of the mobile platform.

7. The method according to any one of claims 1 to 6, characterized in that, The acquisition position of the image from the first perspective in the panoramic image can be switched based on the perspective indicated by the perspective switching command.

8. The method according to claim 7, characterized in that, The perspective switching command indicates a perspective that is related to the user's intent.

9. The method according to claim 8, characterized in that, The perspective switching command is generated based on the user's input.

10. The method according to claim 8, characterized in that, The perspective switching command is generated based on user information.

11. The method according to claim 10, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

12. The method according to claim 11, characterized in that, The movement parameters include the movement distance and / or the movement direction.

13. The method according to claim 8, characterized in that, The perspective switching command is generated based on the command input by the user through the control device of the mobile platform.

14. The method according to claim 13, characterized in that, The instructions input through the control device of the movable platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

15. The method according to claim 14, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

16. The method according to claim 7, characterized in that, The perspective switching command is automatically generated by the movable platform or the control device of the movable platform.

17. The method according to claim 16, characterized in that, The perspective switching command is automatically generated by the movable platform or its control device based on the position of the target in the panoramic image.

18. The method according to claim 17, characterized in that, The target being photographed is the target being followed by the mobile platform.

19. The method according to claim 17, characterized in that, The target being photographed is determined automatically by the mobile platform or by the user.

20. The method according to any one of claims 1-19, characterized in that, The size of the first viewpoint is adjustable.

21. The method according to claim 20, characterized in that, The size of the first viewpoint is adjusted based on user input commands.

22. The method according to claim 21, characterized in that, The size of the first viewpoint is adjusted based on user information.

23. The method according to claim 22, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

24. The method according to claim 23, characterized in that, The movement parameters include the movement distance and / or the movement direction.

25. The method according to claim 21, characterized in that, The size of the first viewpoint is adjusted based on instructions input by the user through the control device of the mobile platform.

26. The method according to claim 25, characterized in that, The instructions input through the control device of the movable platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

27. The method according to claim 26, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

28. The method according to claim 20, characterized in that, The size of the first viewpoint is automatically adjusted by the movable platform or the control device of the movable platform.

29. The method according to claim 28, characterized in that, The size of the first viewpoint is automatically adjusted by the movable platform or the control device of the movable platform based on the position and / or size of the target in the panoramic image.

30. The method according to any one of claims 1-29, characterized in that, The image from the second perspective is used to display the image from the preset perspective.

31. The method according to claim 30, characterized in that, The preset viewing angle is determined based on the movement direction of the movable platform.

32. The method according to claim 30, characterized in that, The preset viewpoint is determined based on the user's location.

33. The method according to any one of claims 1-32, characterized in that, The second perspective image is obtained from the panoramic image.

34. The method according to claim 33, characterized in that, The acquisition position of the second-view image in the panoramic image is adjustable.

35. The method according to claim 34, characterized in that, The position of the second-view image within the panoramic image is adjusted based on user-input commands.

36. The method according to claim 34, characterized in that, The position of the second-view image within the panoramic image is automatically adjusted by the movable platform or its control device.

37. The method according to claim 36, characterized in that, The position of the second-view image in the panoramic image is automatically adjusted by the movable platform or the control device of the movable platform according to the change in the moving direction of the movable platform.

38. The method according to any one of claims 1-32, characterized in that, The image from the second perspective is obtained from the image from the fourth perspective acquired by the sensing sensor, and the fourth perspective is larger than the second perspective.

39. The method according to claim 38, characterized in that, The acquisition position of the second-view image within the fourth-view image is adjustable.

40. The method according to claim 39, characterized in that, The position of the second-view image within the fourth-view image is adjusted based on user-input commands.

41. The method according to claim 39, characterized in that, The position of the second-view image in the fourth-view image is automatically adjusted by the movable platform or the control device of the movable platform.

42. The method according to claim 41, characterized in that, The position of the second-view image in the fourth-view image is automatically adjusted by the movable platform or the control device of the movable platform according to the change in the moving direction of the movable platform.

43. The method according to any one of claims 1-42, characterized in that, The size of the second viewpoint is adjustable.

44. The method according to claim 43, characterized in that, The size of the second viewpoint is adjusted based on user input commands.

45. The method according to claim 44, characterized in that, The size of the second perspective is adjusted based on user information.

46. ​​The method according to claim 45, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

47. The method according to claim 46, characterized in that, The movement parameters include the movement distance and / or the movement direction.

48. The method according to claim 44, characterized in that, The size of the second viewpoint is adjusted based on instructions input by the user through the control device of the mobile platform.

49. The method according to claim 48, characterized in that, The instructions input through the control device of the movable platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

50. The method according to claim 49, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

51. The method according to claim 43, characterized in that, The size of the second viewpoint is automatically adjusted by the movable platform or the control device of the movable platform.

52. The method according to claim 51, characterized in that, The size of the second perspective is automatically adjusted by the movable platform or its control device based on the obstacle distribution in the shooting scene.

53. The method according to claim 52, characterized in that, The distribution of obstacles includes the density of obstacles.

54. The method according to any one of claims 1-53, characterized in that, The sensing sensor is disposed on at least one side of the movable platform.

55. The method according to claim 54, characterized in that, The sensing sensors include visual sensors.

56. The method according to claim 55, characterized in that, The vision sensor includes a monocular vision sensor and / or a binocular vision sensor.

57. The method according to claim 54, characterized in that, The at least one side includes at least one of the front, rear, left, right, upper, and lower sides of the movable platform.

58. The method according to any one of claims 1-53, characterized in that, The panoramic image includes a panoramic image with a horizontal range of at least 180 degrees.

59. The method according to claim 58, characterized in that, The panoramic image includes a panoramic image with a horizontal range of at least 360 degrees.

60. The method according to any one of claims 1-53, characterized in that, The panoramic image includes a panoramic image with a vertical range of at least 180 degrees.

61. The method according to claim 60, characterized in that, The panoramic image includes a panoramic image with a vertical range of at least 360 degrees.

62. The method according to any one of claims 1-53, characterized in that, The panoramic image includes a panoramic image with a horizontal degree of at least 180 degrees and a vertical degree of at least 180 degrees.

63. The method according to claim 62, characterized in that, The panoramic image includes a panoramic image with a horizontal degree of at least 360 degrees and a vertical degree of at least 360 degrees.

64. The method according to any one of claims 1-53, characterized in that, The panoramic shooting sensor includes one or more shooting sensors.

65. The method according to claim 64, characterized in that, The panoramic shooting sensor includes two shooting sensors.

66. The method according to claim 65, characterized in that, The optical axes of the two imaging sensors may be collinear or non-collinear.

67. The method according to claim 66, characterized in that, The two imaging sensors are distributed vertically on the movable platform, or horizontally or front-to-back on the movable platform.

68. The method according to any one of claims 1-67, characterized in that, The real-time display of images from the first and second perspectives includes: displaying images from the first and second perspectives on the same interface.

69. The method according to claim 68, characterized in that, The image from the second perspective occupies a portion of the image from the first perspective, or the image from the first perspective occupies a portion of the image from the second perspective.

70. The method according to claim 69, characterized in that, The method further includes: Receive user input; In response to the input, a switching is performed between a first display mode in which the image from the second perspective occupies a portion of the image from the first perspective and a second display mode in which the image from the first perspective occupies a portion of the image from the second perspective.

71. The method according to any one of claims 1-67, characterized in that, The real-time display of images from the first and second perspectives includes displaying images from the first and second perspectives on different interfaces.

72. The method according to claim 71, characterized in that, The images from the first perspective and the images from the second perspective are displayed side by side, either vertically or horizontally.

73. The method according to any one of claims 1-72, characterized in that, The method further includes: displaying the panoramic image.

74. The method according to claim 73, characterized in that, The panoramic image is used by the user to select the shooting target of the mobile platform or to adjust the display angle of the first perspective image and / or the second perspective image.

75. The method according to claim 74, characterized in that, The panoramic image displays a selection box, which is used by the user to select the shooting target of the mobile platform or adjust the display angle of the first perspective image and / or the second perspective image.

76. The method according to any one of claims 1-75, characterized in that, The panoramic imaging sensor is used to capture and store images of the target.

77. The method according to any one of claims 1-76, characterized in that, The method further includes: The system acquires control commands input by the user to control the movement of the mobile platform.

78. The method according to claim 77, characterized in that, During the process of the mobile platform following the shooting target to shoot, or during the process of the mobile platform moving, control commands input by the user are obtained, and the control commands are used to control the movement of the mobile platform.

79. An image display method, characterized in that, include: Acquire images captured during the operation of a mobile platform; The system displays images from a first-view perspective and images from a second-view perspective in real time. The images acquired by the mobile platform include images from the first-view perspective and images from the second-view perspective. The first-view perspective and the second-view perspective are different perspectives. The image from the first-view perspective is a partial image obtained from an image from a third-view perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first-view perspective in the image from the third-view perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

80. An image transmission method, characterized in that, include: Acquire images captured during the operation of a mobile platform; The image is sent to the control device of the mobile platform so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view and the second view are different perspectives. The first view image is a partial image obtained from the third view image acquired by the shooting sensor of the mobile platform. The acquisition position of the first view image in the third view image can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

81. The method according to claim 79 or 80, characterized in that, The image from the first perspective is used to display the target being photographed.

82. The method according to claim 79 or 80, characterized in that, The image from the first perspective is obtained by cropping the image from the third perspective.

83. The method according to claim 82, characterized in that, The image from the first perspective is obtained by the movable platform cropping it from the image from the third perspective; or, The images acquired by the mobile platform include the third-view images, and the first-view images are obtained by the control device of the mobile platform from the third-view images.

84. The method according to any one of claims 79-83, characterized in that, The size of the first viewpoint is adjustable.

85. The method according to claim 84, characterized in that, The size of the first viewpoint is adjusted based on user input commands.

86. The method according to claim 85, characterized in that, The size of the first viewpoint is adjusted based on user information.

87. The method according to claim 86, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

88. The method according to claim 87, characterized in that, The movement parameters include the movement distance and / or the movement direction.

89. The method according to claim 85, characterized in that, The size of the first viewpoint is adjusted based on instructions input by the user through the control device of the mobile platform.

90. The method according to claim 89, characterized in that, The instructions input through the control device of the movable platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

91. The method according to claim 90, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

92. The method according to claim 84, characterized in that, The size of the first viewpoint is automatically adjusted by the movable platform or the control device of the movable platform.

93. The method according to claim 92, characterized in that, The size of the first perspective is automatically adjusted by the movable platform or the control device of the movable platform based on the position and / or size of the target in the image of the third perspective.

94. The method according to any one of claims 79-93, characterized in that, The image from the second perspective is used to display the image from the preset perspective.

95. The method according to claim 94, characterized in that, The preset viewing angle is determined based on the movement direction of the movable platform.

96. The method according to claim 94, characterized in that, The preset viewpoint is determined based on the user's location.

97. The method according to any one of claims 79-96, characterized in that, The image from the second perspective is obtained from the image from the third perspective.

98. The method according to claim 97, characterized in that, The position of the second-view image within the third-view image is adjustable.

99. The method according to claim 98, characterized in that, The position of the second-view image within the third-view image is adjusted based on user-input commands.

100. The method according to claim 98, characterized in that, The position of the second-view image within the third-view image is automatically adjusted by the movable platform or its control device.

101. The method according to claim 100, characterized in that, The position of the second-view image in the third-view image is automatically adjusted by the movable platform or the control device of the movable platform according to the change in the moving direction of the movable platform.

102. The method according to any one of claims 79-96, characterized in that, The image from the second perspective is obtained from the image from the fourth perspective acquired by the sensing sensor, and the fourth perspective is larger than the second perspective.

103. The method according to claim 102, characterized in that, The acquisition position of the second-view image within the fourth-view image is adjustable.

104. The method according to claim 103, characterized in that, The position of the second-view image within the fourth-view image is adjusted based on user-input commands.

105. The method according to claim 103, characterized in that, The position of the second-view image in the fourth-view image is automatically adjusted by the movable platform or the control device of the movable platform.

106. The method according to claim 105, characterized in that, The position of the second-view image in the fourth-view image is automatically adjusted by the movable platform or the control device of the movable platform according to the change in the moving direction of the movable platform.

107. The method according to any one of claims 79-106, characterized in that, The size of the second viewpoint is adjustable.

108. The method according to claim 107, characterized in that, The size of the second viewpoint is adjusted based on user input commands.

109. The method according to claim 108, characterized in that, The size of the second perspective is adjusted based on user information.

110. The method according to claim 109, characterized in that, The user information includes the user's voice, gestures, posture, or movement parameters.

111. The method according to claim 110, characterized in that, The movement parameters include the movement distance and / or the movement direction.

112. The method according to claim 108, characterized in that, The size of the second viewpoint is adjusted based on instructions input by the user through the control device of the mobile platform.

113. The method according to claim 112, characterized in that, The instructions input through the control device of the movable platform include postures adjusted by the control device or control instructions input through the physical controls of the control device.

114. The method according to claim 113, characterized in that, The physical controls include a display interface, joystick, buttons, or dials.

115. The method according to claim 107, characterized in that, The size of the second viewpoint is automatically adjusted by the movable platform or the control device of the movable platform.

116. The method according to claim 115, characterized in that, The size of the second perspective is automatically adjusted by the movable platform or its control device based on the obstacle distribution in the shooting scene.

117. The method according to claim 116, characterized in that, The distribution of obstacles includes the density of obstacles.

118. The method according to any one of claims 79-117, characterized in that, The third perspective is at least 1.4 times greater than the first perspective.

119. The method according to any one of claims 79-118, characterized in that, The sensing sensor is disposed on at least one side of the movable platform.

120. The method according to claim 119, characterized in that, The sensing sensors include visual sensors.

121. The method according to claim 120, characterized in that, The vision sensor includes a monocular vision sensor and / or a binocular vision sensor.

122. The method according to claim 119, characterized in that, The at least one side includes at least one of the front, rear, left, right, upper, and lower sides of the movable platform.

123. The method according to any one of claims 79-122, characterized in that, The third-view images include panoramic images or wide-angle images.

124. The method according to claim 123, characterized in that, The panoramic image includes a panoramic image with a horizontal range of at least 180 degrees.

125. The method according to claim 124, characterized in that, The panoramic image includes a panoramic image with a horizontal range of at least 360 degrees.

126. The method according to claim 123, characterized in that, The panoramic image includes a panoramic image with a vertical range of at least 180 degrees.

127. The method according to claim 126, characterized in that, The panoramic image includes a panoramic image with a vertical range of at least 360 degrees.

128. The method according to claim 123, characterized in that, The panoramic image includes a panoramic image with a horizontal degree of at least 180 degrees and a vertical degree of at least 180 degrees.

129. The method according to claim 128, characterized in that, The panoramic image includes a panoramic image with a horizontal degree of at least 360 degrees and a vertical degree of at least 360 degrees.

130. The method according to claim 123, characterized in that, The wide-angle image includes a wide-angle image with a horizontal angle of at least 100 degrees.

131. The method according to claim 123, characterized in that, The wide-angle image includes a wide-angle image with a vertical angle of at least 100 degrees.

132. The method according to claim 123, characterized in that, The wide-angle image includes a wide-angle image with a horizontal angle of at least 100 degrees and a vertical angle of at least 100 degrees.

133. The method according to any one of claims 79-132, characterized in that, The shooting sensor includes a panoramic shooting sensor or a wide-angle camera.

134. The method according to any one of claims 79-133, characterized in that, The control device of the mobile platform also displays a third-person perspective image.

135. The method according to claim 134, characterized in that, The third-view image is used by the user to select the shooting target of the mobile platform or to adjust the display angle of the first-view image and / or the second-view image.

136. The method according to claim 135, characterized in that, A selection box is displayed in the third-view image. The selection box is used by the user to select the shooting target of the mobile platform or adjust the display angle of the first-view image and / or the second-view image.

137. The method according to any one of claims 79-135, characterized in that, The imaging sensor is used to capture images of the target and store the captured images.

138. The method according to any one of claims 79-137, characterized in that, The method further includes: The system acquires control commands input by the user to control the movement of the mobile platform.

139. The method according to claim 138, characterized in that, The step of acquiring user-input control commands and sending the control commands to the mobile platform to perform motion control on the mobile platform includes: During the process of the mobile platform following the shooting target to shoot, or during the process of the mobile platform moving, control commands input by the user are obtained, and the control commands are used to control the movement of the mobile platform.

140. The method according to any one of claims 79-139, characterized in that, The real-time display of images from the first and second perspectives includes: displaying images from the first and second perspectives on the same interface.

141. The method according to claim 140, characterized in that, The image from the second perspective occupies a portion of the image from the first perspective, or the image from the first perspective occupies a portion of the image from the second perspective.

142. The method according to claim 141, characterized in that, The method further includes: Receive user input; In response to the input, a switching is performed between a first display mode in which the image from the second perspective occupies a portion of the image from the first perspective and a second display mode in which the image from the first perspective occupies a portion of the image from the second perspective.

143. The method according to any one of claims 79-139, characterized in that, The real-time display of images from the first and second perspectives includes displaying images from the first and second perspectives on different interfaces.

144. The method according to claim 143, characterized in that, The images from the first perspective and the images from the second perspective are displayed side by side, either vertically or horizontally.

145. The method according to claim 133, characterized in that, The panoramic shooting sensor includes one or more shooting sensors.

146. The method according to claim 145, characterized in that, The panoramic shooting sensor includes two shooting sensors.

147. The method according to claim 146, characterized in that, The optical axes of the two imaging sensors may be collinear or non-collinear.

148. The method according to claim 147, characterized in that, The two imaging sensors are distributed vertically on the movable platform, or horizontally or front-to-back on the movable platform.

149. An image display control device, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Images captured during the operation of the mobile platform are obtained through the communication interface; The control display shows images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

150. An image transmission device, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Acquire images captured during the operation of a mobile platform; The control communication interface sends the image to the control device of the mobile platform, so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view image and the second view image are different perspectives. The first view image is obtained from the panoramic image acquired by the panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

151. An image display control device, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Images captured during the operation of the mobile platform are obtained through the communication interface; The control display shows images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is a partial image obtained from the image from the third perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first perspective in the image from the third perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

152. An image transmission device, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Acquire images captured during the operation of a mobile platform; The control communication interface sends the image to the control device of the mobile platform, so that the control device can display the first-view image and the second-view image in real time. The image acquired by the mobile platform includes the first-view image and the second-view image, which are different perspectives. The first-view image is a partial image obtained from the third-view image acquired by the shooting sensor of the mobile platform. The acquisition position of the first-view image in the third-view image can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

153. A control device, characterized in that, It includes a processor, a memory, a display, and a communication interface, wherein the memory is used to store computer programs; The processor is used to execute the computer program and, when executing the computer program, performs the following steps: acquiring images collected by the mobile platform during operation through the communication interface; The display is used to display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

154. A mobile platform, characterized in that, The device includes: a memory, a processor, and a communication interface, wherein the memory is used to store computer programs; The processor is used to execute the computer program and, when executing the computer program, performs the following steps: acquiring images collected by the mobile platform during operation; The communication interface is used to send the image to the control device of the mobile platform, so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view and the second view are different perspectives. The first view image is obtained from the panoramic image acquired by the panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

155. A control device, characterized in that, It includes a processor, a memory, a display, and a communication interface, wherein the memory is used to store computer programs; The processor is used to execute the computer program and, when executing the computer program, performs the following steps: acquiring images collected by the mobile platform during operation through the communication interface; The display is used to display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is a partial image obtained from an image from a third perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first perspective in the image from the third perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

156. A mobile platform, characterized in that, The device includes: a memory, a processor, and a communication interface, wherein the memory is used to store computer programs; The processor is used to execute the computer program and, when executing the computer program, performs the following steps: acquiring images collected by the mobile platform during operation; The communication interface is used to send the image to the control device of the mobile platform, so that the control device can display the first view image and the second view image in real time. The image acquired by the mobile platform includes the first view image and the second view image. The first view and the second view are different perspectives. The first view image is a partial image obtained from the third view image acquired by the shooting sensor of the mobile platform. The acquisition position of the first view image in the third view image can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment around the mobile platform.

157. An image transmission system, characterized in that, It includes a mobile platform and a control device for the mobile platform, the mobile platform and the control device being able to communicate; The mobile platform is used to acquire images collected during the operation of the mobile platform; The mobile platform is also used to send the image to the control device; The control device is used to display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is obtained from a panoramic image acquired by a panoramic shooting sensor of the mobile platform. The panoramic shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

158. An image transmission system, characterized in that, It includes a mobile platform and a control device for the mobile platform, the mobile platform and the control device being able to communicate; The mobile platform is used to acquire images collected during the operation of the mobile platform; The mobile platform is also used to send the image to the control device; The control device is used to display images from a first perspective and images from a second perspective in real time. The images acquired by the mobile platform include images from the first perspective and images from the second perspective. The first perspective and the second perspective are different perspectives. The image from the first perspective is a partial image obtained from an image from a third perspective acquired by the shooting sensor of the mobile platform. The acquisition position of the image from the first perspective in the image from the third perspective can be switched based on the shooting perspective indicated by the perspective switching command. The shooting sensor is different from the perception sensor of the mobile platform. The perception sensor is used to detect obstacles in the environment surrounding the mobile platform.

159. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method of any one of claims 1-148.

160. The method according to claim 1, 2, 79 or 80, characterized in that, The acquisition of images collected by the mobile platform during operation includes: acquiring images collected by the mobile platform during movement; The real-time display of images from the first and second perspectives includes: displaying images from the first and second perspectives during the movement of the mobile platform.

161. The method according to claim 1, 2, 79 or 80, characterized in that, The acquisition of images captured by the mobile platform during operation includes: acquiring images captured by the mobile platform during shooting; The real-time display of images from the first and second perspectives includes: displaying images from the first and second perspectives during the shooting process on the mobile platform.

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