WO2019128275A1 - 一种拍摄控制方法、装置及飞行器 - Google Patents
一种拍摄控制方法、装置及飞行器 Download PDFInfo
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- WO2019128275A1 WO2019128275A1 PCT/CN2018/102764 CN2018102764W WO2019128275A1 WO 2019128275 A1 WO2019128275 A1 WO 2019128275A1 CN 2018102764 W CN2018102764 W CN 2018102764W WO 2019128275 A1 WO2019128275 A1 WO 2019128275A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Definitions
- Embodiments of the present invention relate to the field of aircraft technologies, and in particular, to a photographing control method, apparatus, and aircraft.
- Unmanned Aerial Vehicle also known as drones
- UAV Unmanned Aerial Vehicle
- the unmanned aerial vehicle is equipped with multi-type camera equipment through the gimbal, which can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
- the use of unmanned aerial vehicles has been expanded to three major fields: military, scientific research, and civilian use, specifically in power communications, meteorology, agriculture, oceanography, exploration, photography, search and rescue, disaster prevention and mitigation, crop yield estimation, anti-drug, and borders.
- the fields of patrol, law and order, and anti-terrorism are widely used.
- the main object of the present invention is to provide a shooting control method, apparatus, and aircraft that can automatically adjust a shooting angle and are suitable for multi-target shooting.
- an embodiment of the present invention provides a shooting control method, where the method includes:
- Obtaining a to-be-shot picture including a target group, the target group including at least two target objects;
- the shooting angle is adjusted according to the geometry constructed by the boundary of the area.
- the determining a region boundary of the region where the target group is located in the to-be-taken picture includes:
- the adjusting the shooting angle according to the geometrical structure constructed by the boundary of the area includes:
- the shooting angle is adjusted until the geometric figure is at the preset position of the picture to be taken.
- the method further includes:
- the determining whether the at least two target sub-objects are consistent comprises:
- the method further includes:
- an embodiment of the present invention provides a shooting control device, where the device includes:
- a to-be-taken picture acquisition module configured to acquire a to-be-captured picture including a target group, where the target group includes at least two target objects;
- a region boundary determining module configured to determine a region boundary of a region where the target group is located in the to-be-captured picture
- the shooting angle adjustment module is configured to adjust the shooting angle according to the geometric figure constructed by the boundary of the area.
- the area boundary determination module is specifically configured to:
- the shooting angle adjustment module is specifically configured to:
- the shooting angle is adjusted until the geometric figure is at the preset position of the picture to be taken.
- the apparatus further includes:
- a target sub-object identification module configured to identify at least two target sub-objects included in the target group from the to-be-captured picture
- a determining module configured to determine whether the at least two target sub-objects are consistent
- a shooting module configured to: when the determining module determines that the at least two target sub-objects are consistent, photographing the target group.
- the determining module is specifically configured to:
- the apparatus further includes:
- a gesture model building module for establishing a user-defined gesture model.
- an embodiment of the present invention provides an aircraft, including:
- At least one processor and,
- the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a photographing control method as described above.
- an embodiment of the present invention provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the command is executed by the aircraft, the aircraft is caused to perform the photographing control method as described above.
- an embodiment of the present invention further provides a non-transitory computer readable storage medium storing computer executable instructions for causing an aircraft to perform the above The shooting control method described.
- the embodiment of the invention realizes the automatic adjustment of the shooting angle according to the geometric figure constructed by the boundary of the region, thereby obtaining a suitable captured image or shooting image, reducing the manual interference to the aircraft during the shooting process, and reducing the occupation of the endurance time by the manual operation. , thereby improving the aircraft's endurance.
- the shooting control method provided by the embodiment of the present invention is particularly suitable for multi-target shooting, and determines a suitable shooting angle for multi-target shooting.
- FIG. 1 is a schematic diagram of a drone according to an embodiment of the present invention.
- FIG. 2 is a schematic structural diagram of a drone according to an embodiment of the present invention.
- FIG. 3 is a schematic flowchart of a shooting control according to an embodiment of the present invention.
- FIG. 4 is a schematic diagram of a to-be-captured picture including a target group according to an embodiment of the present invention
- FIG. 5 is a schematic flowchart of another shooting control according to an embodiment of the present invention.
- FIG. 6 is a schematic flowchart of determining whether the at least two target sub-objects are consistent according to an embodiment of the present invention
- FIG. 7 is a schematic diagram of a shooting control apparatus according to an embodiment of the present invention.
- FIG. 8 is a schematic diagram of another shooting control apparatus according to an embodiment of the present invention.
- FIG. 9 is a schematic structural diagram of an aircraft hardware according to an embodiment of the present invention.
- Embodiments of the present invention provide a shooting control method, apparatus, and aircraft.
- the photographing control method can be applied to various aircrafts, and the following description of the present invention uses an Unmanned Aerial Vehicle (UAV) as an example of an aircraft.
- UAV Unmanned Aerial Vehicle
- the UAV can be a small UAV.
- the UAV may be a rotorcraft, such as a multi-rotor aircraft that is propelled by air by a plurality of propelling devices, embodiments of the invention are not limited thereto, and the UAV may be other types of UAVs or Mobile device.
- FIG. 1 and FIG. 2 are schematic diagrams of the drone 100 according to an embodiment of the present invention.
- the drone 100 can include a rack 110, a power system 120, a flight control system 130, a pan/tilt 140, an image capture device 150, and the like.
- the flight control system 130 is disposed in the rack 110, and the pan/tilt head 140 is mounted on the rack 110.
- the flight control system 130 can be coupled to the power system 120, the pan/tilt head 140, and the image capture device 150 to implement communication.
- the frame 110 can include a fuselage and a stand (also known as a landing gear).
- the fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame.
- the tripod is coupled to the fuselage for supporting the drone 100 when landing.
- the powertrain system 120 can include an electronic governor (referred to as ESC) 121, one or more propellers 123, and one or more electric machines 122 corresponding to one or more propellers 123, wherein the electric machine 122 is coupled to the electronic governor Between the 121 and the propeller 123, the motor 122 and the propeller 123 are disposed on the corresponding arm; the electronic governor 121 is configured to receive the driving signal generated by the flight control system 130, and provide a driving current to the motor 122 according to the driving signal to control The rotational speed of the motor 122.
- the motor 122 is used to drive the propeller to rotate to power the flight of the drone 100, which enables the drone 100 to achieve one or more degrees of freedom of motion.
- the drone 100 can be rotated about one or more axes of rotation.
- the above-described rotating shaft may include a roll axis, a pan axis, and a pitch axis.
- the motor 122 can be a DC motor or an AC motor.
- the motor 122 may be a brushless motor or a brush motor.
- Flight control system 130 may include flight controller 131 and sensing system 132.
- the sensing system 132 is used to measure the attitude information of the drone 100, that is, the position information and state information of the drone 100 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity.
- the sensing system 132 can include, for example, at least one of a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
- the global navigation satellite system can be a Global Positioning System (GPS).
- the flight controller 131 is used to control the flight of the drone 100, for example, the flight of the drone 100 can be controlled based on the attitude information measured by the sensing system 132. It will be appreciated that the flight controller 131 may control the drone 100 in accordance with pre-programmed program instructions or may control the drone 100 in response to one or more control commands from other devices.
- the pan/tilt 140 can include an ESC 141 and a motor 142.
- the pan/tilt 140 is used to mount the image capturing device 150.
- the flight controller 131 can control the motion of the platform 140 through the ESC 141 and the motor 142.
- the platform 140 may further include a controller for controlling the motion of the platform 140 by controlling the ESC 141 and the motor 142.
- the pan/tilt 140 can be independent of the drone 100 or a part of the drone 100.
- the motor 142 can be a DC motor or an AC motor.
- the motor 142 may be a brushless motor or a brush motor.
- the platform 140 may be located at the top of the rack 110 or at the bottom of the rack 110.
- Image acquisition device 150 may be a device for capturing images, such as a camera or video camera, and image acquisition device 150 may be in communication with flight control system 130 and photographed under the control of flight control system 130.
- FIG. 3 is a schematic flowchart diagram of a shooting control method according to an embodiment of the present invention.
- a shooting control method according to an embodiment of the present invention may be implemented by the components of the above-described drone, and is not limited herein.
- the shooting control method includes:
- 301 Acquire a to-be-captured picture including a target group, where the target group includes at least two target objects.
- the user can first adjust the angle of the pan/tilt mounted with the image capturing device so that the image capturing device faces the direction containing the target group.
- the drone can acquire the image to be captured containing the target group collected by the image acquisition device.
- the image capturing device may be an image capturing device such as a camera or a camera.
- FIG. 4 is a schematic diagram of a captured image to be captured including a target group, wherein the image to be captured 410 refers to an image including a whole of a target group collected by an image collection device, and the target group 420 is referred to as an image acquisition device.
- the collected target population, the target group 420 includes at least 2 target objects, that is, includes at least 2 independent persons, and includes 3 individuals as shown in FIG. It can be understood that the embodiment of the present invention does not specifically limit the number of target objects.
- the target objects are 2, 3, 4, and so on.
- the target population can also be an animal population or the like.
- FIG. 4 is only a schematic diagram of a picture to be taken that includes a target group, and is for illustrative purposes, and should not be construed as limiting the embodiments of the present invention.
- each target object of the target group corresponds to a region boundary, such as a region boundary 4301 corresponding to the target object A, a region boundary 4302 corresponding to the target object B, and a region boundary 4303 corresponding to the target object C.
- the set of region boundaries of all target objects in the target group constitutes a region boundary 430 of the region in which the target group is located in the image to be captured.
- the region boundary of a target object may be processed by a set of boundary points of the region in which the target object is located in the image to be captured.
- the boundary point may be obtained by a curve approximation method (such as a quadratic approximation method).
- the set is fitted to obtain the outline of the target object, that is, the area boundary of the target object.
- the UAV first constructs a geometric figure corresponding to the area boundary according to a region boundary of the target group in the image to be captured, and then adjusts a shooting angle according to the geometric image, so as to obtain Suitable for taking pictures or taking pictures.
- the geometric figure constructed according to the boundary of the area is a minimum geometric figure that can completely include the boundary of the area, and the geometric figure can be a rectangle, a square, a circle, a pentagon, etc., and the specific shape of the geometric figure In the embodiment of the present invention, no limitation is imposed.
- the drone adjusting the shooting angle according to the geometric figure may include: the drone determining whether the geometric figure is at a preset position of the to-be-shot image, and if not, adjusting the shooting angle until the The geometric figure is at a preset position of the picture to be taken.
- the adjusting the shooting angle includes but is not limited to: the drone adjusts the shooting angle by adjusting the shooting position or shooting posture of the drone; or adjusts the flying posture of the drone (such as front, back, left, and right). , up, down, etc.) to adjust the shooting angle; or to control the position of the image capture device mounted on the pan/tilt by controlling the head of the drone to adjust the shooting angle.
- the shooting angle can be automatically adjusted to obtain a suitable captured image or a shooting image, which reduces the manual interference to the aircraft during the shooting process, and reduces the occupation of the endurance time by the manual operation, thereby improving the life of the aircraft. ability.
- the shooting control method provided by the embodiment of the present invention is particularly suitable for multi-target shooting, and determines a suitable shooting angle for multi-target shooting.
- FIG. 5 is a schematic flowchart diagram of another shooting control method according to an embodiment of the present invention. Another embodiment of the present invention is not limited to this. The embodiment of the present invention is described by taking an unmanned aerial vehicle as an example.
- the shooting control method includes:
- 501 Acquire a to-be-captured picture including a target group, where the target group includes at least two target objects.
- the user can first adjust the angle of the pan/tilt mounted with the image capturing device so that the image capturing device faces the direction containing the target group.
- the drone can acquire a to-be-captured picture of the target group collected by the image acquisition device.
- the image capturing device may be an image capturing device such as a camera or a camera.
- the image to be captured refers to an image of the whole of the target group collected by the image collection device
- the target group refers to a target group collected by the image collection device
- the target group includes at least two target objects. , that is, contains at least 2 independent people.
- the embodiment of the present invention does not specifically limit the number of target objects.
- the target objects are 2, 3, 4, and so on.
- the target population can also be a population of animals, the target population being a single animal, the target population being a single animal or the like.
- 502 Determine an area boundary of the area where the target group is located in the to-be-taken picture.
- Each target object of the target group corresponds to a region boundary, and a set of region boundaries of all target objects in the target group constitutes a region boundary of a region where the target group is located in the to-be-captured picture.
- the region boundary of a target object may be processed by a set of boundary points of the region in which the target object is located in the image to be captured.
- the boundary point may be obtained by a curve approximation method (such as a quadratic approximation method).
- the set is fitted to obtain the outline of the target object, that is, the area boundary of the target object.
- the determining, by the target group, the area boundary of the area where the target group is located in the image to be captured, the method may further include: identifying, from the target group, at least one target object adjacent to the frame of the picture to be captured; The area boundary of the area where the at least one target object is located determines the area boundary of the area where the target group is located.
- the target object in the target group is identified to obtain a location of each of the target objects. Then, the position of each of the target objects is compared with the border of the picture to be captured, thereby determining at least one target object adjacent to the frame of the picture to be captured. Finally, the area boundary of the area where the target group is located is determined according to the area boundary of the area where the at least one target object of the frame to be photographed is located.
- the target object in the target group is identified, so as to obtain the position m of the target object A, the position n of the target object B, and the position of the target object C. h, wherein the location of each target object may be the center point of the target object. Then, the respective positions are compared with the frame of the picture to be captured, that is, the position m, the position n and the position h are respectively acquired with the sides (edge 1, side 2, side 3 and side 4) of the picture to be captured.
- the distance is closest to the edge 1 by the comparison target object A, and the target object C is the closest to the edge 3, so the target object A and the target object C are taken as the target object adjacent to the frame to be photographed, and according to the target object A and the target
- the area boundary of the area in which the object C is located determines the area boundary of the area in which the target group is located.
- 503 Adjust the shooting angle according to the geometry constructed by the boundary of the area.
- the UAV first constructs a geometric figure corresponding to the area boundary according to a region boundary of the target group in the image to be captured, and then generates an adjustment instruction according to the geometric image to adjust the shooting. Angle to get the right shot or shot.
- the geometric figure constructed according to the boundary of the area is a minimum geometric figure that can completely include the boundary of the area, and the geometric figure can be a rectangle, a square, a circle, a pentagon, etc., and the specific shape of the geometric figure In the embodiment of the present invention, no limitation is imposed.
- the adjusting the shooting angle according to the geometrical figure constructed by the boundary of the area may include: determining, according to the feature information of the geometric figure, whether the geometric figure is in a preset position of the to-be-photographed picture; Adjusting the shooting angle until the geometric figure is at the preset position of the picture to be taken.
- the feature information includes a geometric center of the geometric figure and information of each side of the geometric figure. For example, information about the geometric center of the geometry and/or the sides of the geometric shape may be determined to determine if the geometric image is at a predetermined position of the picture to be captured.
- the preset position may be a preset position generated according to a user's operation, so that the shooting angle and the captured picture meet the user's expectation; in some embodiments, the preset position may also be pre-configured in the The location in the drone.
- the adjusting the shooting angle includes, but is not limited to, the drone sending an adjustment command to control the drone to fly to the corresponding shooting position to adjust the shooting angle; or the drone sends an adjustment command to control the The flying attitude of the man-machine (such as front, rear, left, right, up, down, etc.) to adjust the shooting angle; or the drone sends an adjustment command to adjust the driving of the drone by controlling the head of the drone
- the position or posture of the image capturing device on the pan/tilt adjusts the shooting angle.
- the target sub-object may be a gesture, a limb motion, a motion trajectory, or the like of the target object.
- the step 505 determines whether the at least two target sub-objects are consistent, including:
- the target feature corresponding to each of the at least two target sub-objects may be acquired by an image processing technique such as preprocessing, image segmentation, and feature extraction.
- the pre-processing is mainly to perform a process of drying, smoothing, and the like on the to-be-shot image to remove dead pixels or voids that often occur in the to-be-shot image.
- Image segmentation mainly divides the target sub-objects to facilitate feature extraction on the target sub-objects to obtain the target features.
- the same feature may be that the target features are identical, and the target features are substantially the same, that is, the target features are the same, that is, the same feature in the target feature is greater than the preset feature threshold, and the target features are considered to be the same.
- 5053 Determine whether the quantity is greater than a preset threshold.
- the preset threshold may be a value of a user-defined setting, or may be a value pre-configured in the drone. And comparing the number of target sub-objects with the same target feature to the preset threshold to determine whether the quantity is greater than a preset threshold.
- 5054 If the quantity is greater than a preset threshold, determine that the at least two target sub-objects are consistent.
- the number is greater than a preset threshold, it may be determined that the at least two target sub-objects are consistent.
- the target group can be photographed.
- the erroneous operation of the target object in the target group can be prevented to trigger the shooting; on the other hand, the user's sense of participation can be improved.
- the photographing the target group comprises: matching the target sub-object with a preset sub-object, and if the matching is successful, triggering shooting of the target group to further prevent the user from misoperation.
- the preset sub-objects may be preset gestures, preset limb movements or preset motion trajectories, and the like. The following is an example of a preset gesture.
- the preset gesture includes: a gesture pre-configured in the drone or a pre-user-defined gesture or the like.
- the shooting control method further includes:
- the mode of the image capture device needs to be set to the grouping mode, so that the image capturing device recognizes the target group and acquires a captured image including the target group.
- the grouping mode is an automatic shooting by identifying a target sub-object in the target group. Therefore, it is also necessary to determine whether there is a predefined target sub-object, and if not, it is necessary to first create a user-defined target sub-object.
- taking the target sub-object as a gesture model as an example it can be understood that in other embodiments, the target sub-object may be a preset gesture, a limb motion, a motion trajectory, or the like.
- the user-defined gesture model of the UAV includes: acquiring a gesture image of the user; performing pre-processing and gesture segmentation on the gesture image to obtain hand feature information; and establishing, according to the hand feature information, Gesture model. After the gesture model is established, the gesture module can be stored in the drone.
- the steps 504-507 may not be mandatory steps in different embodiments, and in addition, according to the description of the embodiments of the present invention, in different embodiments, In case of conflict, the steps 501-507 may have different execution orders.
- the shooting angle can be automatically adjusted to obtain a suitable captured image or a shooting image, which reduces the manual interference to the aircraft during the shooting process, and reduces the occupation of the endurance time by the manual operation, thereby improving the life of the aircraft. ability.
- the shooting control method provided by the embodiment of the present invention is particularly suitable for multi-target shooting, and determines a suitable shooting angle for multi-target shooting.
- FIG. 7 is a schematic diagram of a shooting control apparatus according to an embodiment of the present invention.
- the device 70 can be disposed in the above-mentioned drone.
- the photographing control device 70 includes:
- the to-be-taken picture acquisition module 701 is configured to acquire a to-be-captured picture including a target group, where the target group includes at least two target objects.
- the to-be-taken picture acquisition module 701 can acquire a to-be-captured picture including the target group collected by the image collection device.
- the image capturing device may be an image capturing device such as a camera or a camera.
- the image to be captured refers to an image of the whole of the target group collected by the image collection device
- the target group refers to a target group collected by the image collection device
- the target group includes at least two target objects. , that is, contains at least 2 independent people.
- the embodiment of the present invention does not specifically limit the number of target objects.
- the target objects are 2, 3, 4, and so on.
- the target population can also be a population of animals, the target population being a single animal, the target population being a single animal or the like.
- the area boundary determining module 702 is configured to determine an area boundary of the area where the target group is located in the picture to be captured.
- Each target object of the target group corresponds to a region boundary, and a set of region boundaries of all target objects in the target group constitutes a region boundary of a region where the target group is located in the to-be-captured picture.
- the region boundary of a target object may be processed by a set of boundary points of the region in which the target object is located in the image to be captured.
- the boundary point may be obtained by a curve approximation method (such as a quadratic approximation method).
- the set is fitted to obtain the outline of the target object, that is, the area boundary of the target object.
- the shooting angle adjustment module 703 is configured to adjust the shooting angle according to the geometric figure constructed by the boundary of the area.
- the shooting angle adjustment module 703 first constructs a geometric figure corresponding to the area boundary according to a region boundary of the target group in the image to be captured, and then adjusts the shooting angle according to the geometric image, so that Get the right shot or shot.
- the geometric figure constructed according to the boundary of the area is a minimum geometric figure that can completely include the boundary of the area, and the geometric figure can be a rectangle, a square, a circle, a pentagon, etc., and the specific shape of the geometric figure In the embodiment of the present invention, no limitation is imposed.
- the shooting angle adjustment module 703 may adjust the shooting angle according to the geometric figure.
- the shooting angle adjustment module 703 determines whether the geometric graphic is in a preset position of the to-be-shot image, and if not, adjusts the shooting angle. Until the geometric figure is at a preset position of the picture to be taken.
- the adjusting the shooting angle includes, but is not limited to, the shooting angle adjusting module 703 adjusting the shooting angle by adjusting the shooting position or shooting posture of the drone; or adjusting the flying posture of the drone (such as front, rear, left) , right, up, down, etc.) to adjust the shooting angle; or by controlling the head of the drone to adjust the position or posture of the image capturing device mounted on the head to adjust the shooting angle.
- the photographing control device 70 can perform the photographing control method provided by Embodiment 1 of the present invention, and has a function module and a beneficial effect corresponding to the execution method.
- the photographing control method provided by the embodiment 1 of the present invention can perform the photographing control method provided by the embodiment 1 of the present invention.
- FIG. 8 is a schematic diagram of a shooting control apparatus according to an embodiment of the present invention.
- the device 80 can be configured in the above-mentioned drone.
- the photographing control device 80 includes:
- the to-be-taken picture acquisition module 801 is configured to acquire a to-be-captured picture including a target group, where the target group includes at least two target objects.
- the to-be-taken picture acquisition module 801 can acquire a to-be-captured picture including the target group collected by the image collection device.
- the image capturing device may be an image capturing device such as a camera or a camera.
- the image to be captured refers to an image of the whole of the target group collected by the image collection device
- the target group refers to a target group collected by the image collection device
- the target group includes at least two target objects. , that is, contains at least 2 independent people.
- the embodiment of the present invention does not specifically limit the number of target objects.
- the target objects are 2, 3, 4, and so on.
- the target population can also be a population of animals, the target population being a single animal, the target population being a single animal or the like.
- the area boundary determining module 802 is configured to determine an area boundary of the area where the target group is located in the picture to be captured.
- Each target object of the target group corresponds to a region boundary, and a set of region boundaries of all target objects in the target group constitutes a region boundary of a region where the target group is located in the to-be-captured picture.
- the region boundary of a target object may be processed by a set of boundary points of the region in which the target object is located in the image to be captured.
- the boundary point may be obtained by a curve approximation method (such as a quadratic approximation method).
- the set is fitted to obtain the outline of the target object, that is, the area boundary of the target object.
- the area boundary determining module 802 is specifically configured to: identify at least one target object adjacent to the frame of the to-be-photographed frame from the target group; and according to an area boundary of the area where the at least one target object is located, Determining the regional boundaries of the area in which the target group is located.
- the target object in the target group is identified to obtain a location of each of the target objects. Then, the position of each of the target objects is compared with the frame of the picture to be captured, thereby determining at least one target object adjacent to the frame of the picture to be captured. Finally, the area boundary of the area where the target group is located is determined according to the area boundary of the area where the at least one target object of the frame to be photographed is located.
- the shooting angle adjustment module 803 is configured to adjust the shooting angle according to the geometric figure constructed by the boundary of the area.
- the shooting angle adjustment module 803 first constructs a geometric figure corresponding to the area boundary according to a region boundary of the target group in the image to be captured, and then adjusts the shooting angle according to the geometric image, so that Get the right shot or shot.
- the geometric figure constructed according to the boundary of the area is a minimum geometric figure that can completely include the boundary of the area, and the geometric figure can be a rectangle, a square, a circle, a pentagon, etc., and the specific shape of the geometric figure In the embodiment of the present invention, no limitation is imposed.
- the shooting angle adjustment module 803 is specifically configured to: determine, according to the feature information of the geometric figure, whether the geometric figure is in a preset position of the to-be-photographed picture; if not, adjust the shooting angle until the geometric figure Located at a preset position of the picture to be taken.
- the feature information includes a geometric center of the geometric figure and information of each side of the geometric figure. For example, information about the geometric center of the geometry and/or the sides of the geometric shape may be used to determine whether the geometric image is at a preset position of the picture to be captured.
- the preset position may be a preset position generated according to a user's operation, so that the shooting angle and the captured picture meet the user's expectation; in some embodiments, the preset position may also be pre-configured in the The location in the drone.
- the shooting angle adjustment module 803 adjusts the shooting angle, including but not limited to: the shooting angle adjustment module 803 sends an adjustment command to control the drone to fly to the corresponding shooting position to adjust the shooting angle; or the shooting angle adjustment The module 803 sends an adjustment command to control the flight attitude of the drone (such as front, rear, left, right, up, down, etc.) to adjust the shooting angle; or the shooting angle adjustment module 803 sends an adjustment command to control The head of the drone adjusts the position or posture of the image pickup device mounted on the head to adjust the shooting angle.
- the target sub-object identification module 804 is configured to identify at least two target sub-objects included in the target group from the to-be-captured picture.
- the target sub-object may be a gesture, a limb motion, a motion trajectory, or the like of the target object.
- the determining module 805 is configured to determine whether the at least two target sub-objects are consistent.
- the determining module 805 is specifically configured to: respectively determine target features corresponding to the at least two target sub-objects; count the number of target sub-objects with the same target feature; determine whether the quantity is greater than a preset threshold; If the threshold is greater than the preset threshold, it is determined that the at least two target sub-objects are consistent.
- the shooting module 806 is configured to: when the determining module determines that the at least two target sub-objects are consistent, photographing the target group.
- the shooting module 806 can capture the target group.
- the judging module 805 determines whether the at least two target sub-objects are consistent, and then determines whether the target group is photographed by the photographing module 806.
- the target object in the target group can be prevented from being erroneously operated to trigger shooting; Improve user engagement.
- the photographing module 806 is configured to: capture the target sub-object with a preset sub-object, and if the matching is successful, trigger shooting on the target group to further Prevent users from misuse.
- the preset sub-objects may be preset gestures, preset limb movements or preset motion trajectories, and the like. The following is an example of a preset gesture.
- the preset gesture includes: a gesture pre-configured in the drone or a pre-user-defined gesture or the like.
- the shooting control method further includes:
- the gesture model establishing module 807 is configured to establish a user-defined gesture model.
- the gesture model establishing module 807 is specifically configured to: acquire a gesture image of the user; perform pre-processing and gesture segmentation on the gesture image to obtain hand feature information; and establish a gesture model according to the hand feature information. After the gesture model is established, the gesture module can be stored in the drone.
- the shooting control device 80 can perform the shooting control method provided by Embodiment 2 of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
- the photographing control method provided in Embodiment 2 of the present invention can perform the shooting control method provided by Embodiment 2 of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
- FIG. 9 is a schematic structural diagram of an aircraft hardware according to an embodiment of the present invention.
- the aircraft may be a drone, an unmanned boat, or the like. As shown in Figure 9, the aircraft 90 includes:
- One or more processors 901 and memory 902, one processor 901 is taken as an example in FIG.
- the processor 901 and the memory 902 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
- the memory 902 is used as a non-volatile computer readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the photographing control method provided by the embodiments of the present invention.
- / Module for example, the to-be-taken picture acquisition module 801, the area boundary determination module 802, the shooting angle adjustment module 803, the target sub-object recognition module 804, the determination module 805, the photographing module 806, and the gesture model establishing module 807 shown in FIG. ).
- the processor 901 executes various functional applications and data processing of the aircraft by running non-volatile software programs, instructions, and modules stored in the memory 902, i.e., implements the photographing control method provided by the method embodiments.
- the memory 902 can include a storage program area and a storage data area, wherein the storage program area can store an operating system, an application required for at least one function; the storage data area can store data created according to aircraft usage, and the like.
- memory 902 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
- memory 902 can optionally include memory remotely located relative to processor 901, which can be connected to the aircraft via a network.
- Embodiments of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
- the one or more modules are stored in the memory 902, and when executed by the one or more processors 901, perform a photographing control method provided by an embodiment of the present invention, for example, performing the above described FIG. Method step 501 to step 507, or implement the functions of the 801-807 module in FIG.
- the aircraft may also include a communication interface for enabling communication with other devices, such as servers and the like.
- Other devices included in the aircraft are not limited herein.
- the aircraft can perform the shooting control method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
- the method of photographing control provided by the embodiments of the present invention.
- An embodiment of the present invention provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instruction is When the aircraft is executed, the aircraft is caused to perform the photographing control method provided by the embodiment of the present invention.
- the method steps 501 to 507 in FIG. 5 described above are performed, or the functions of the 801-807 module in FIG. 8 are implemented.
- An embodiment of the present invention provides a non-transitory computer readable storage medium storing computer-executable instructions for causing an aircraft to perform shooting provided by an embodiment of the present invention.
- Control Method For example, the method steps 501 to 507 in FIG. 5 described above are performed, or the functions of the 801-807 module in FIG. 8 are implemented.
- the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical. Units can be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- the embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware.
- One of ordinary skill in the art can understand that all or part of the process of implementing the embodiment method can be completed by computer program related hardware, the program can be stored in a computer readable storage medium, and the program is executed.
- the flow of an embodiment of the methods as described may be included.
- the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
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Abstract
一种拍摄控制方法、装置(80)及飞行器(90),其中所述方法包括:获取包含目标群体(420)的待拍摄画面(410),所述目标群体包括至少2个目标对象;确定所述目标群体在所述待拍摄画面中所处区域的区域边界(4301,4302,4303);根据所述区域边界所构建的几何图形,调整拍摄角度;拍摄控制装置(80)包括待拍摄画面获取模块(801)、区域边界确定模块(802)、拍摄角度调整模块(803);飞行器(90),包括至少一个处理器(901)、与所述至少一个处理器通信连接的存储器(902)以及所述拍摄控制装置。所述飞行器通过所述拍摄控制方法、装置能够实现自动调整拍摄角度,以获取得到合适的拍摄图像或拍摄画面,减少拍摄过程中对飞行器的手动干涉,减少手动操作对续航时间的占用,从而提高了飞行器的续航能力,并且特别适用于多目标拍摄,为多目标拍摄确定合适的拍摄角度。
Description
申请要求于2017年12月31日申请的、申请号为201711494800.3、申请名称为“一种拍摄控制方法、装置及飞行器”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本发明实施例涉及飞行器技术领域,尤其涉及一种拍摄控制方法、装置及飞行器。
随着飞行技术的发展,飞行器,例如,无人飞行器(Unmanned Aerial Vehicle,UAV),也称无人机得到了越来越广泛的应用。无人机是一种处在迅速发展中的新概念装备,其具有体积小、重量轻、机动灵活、反应快速、无人驾驶、操作要求低的优点。无人飞行器通过云台搭载多类摄像设备,可以实现影像实时传输、高危地区探测功能,是卫星遥感与传统航空遥感的有力补充。近年来,无人飞行器的使用范围已经扩宽到军事、科研、民用三大领域,具体在电力通信、气象、农业、海洋、勘探、摄影、搜救、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
目前,当使用UAV上携带的拍摄设备进行拍摄时,需要通过用户操作用户终端或遥控器来控制无人机的飞行姿态、飞行位置和云台的转动来实现对拍摄的调整和控制,操作过程繁琐,操作体验不友好,特别是在对多个目标进行拍摄时,更加难以调整。而且由于用户手动操作的时 间需占据大量的续航时间。
发明内容
本发明的主要目的在于提供一种可自动调整拍摄角度、适用于多目标拍摄的拍摄控制方法、装置及飞行器。
本发明实施例公开了如下技术方案:
第一方面,本发明实施例提供了一种拍摄控制方法,所述方法包括:
获取包含目标群体的待拍摄画面,所述目标群体包括至少2个目标对象;
确定所述目标群体在所述待拍摄画面中所处区域的区域边界;
根据所述区域边界所构建的几何图形,调整拍摄角度。
在一些实施例中,所述确定所述目标群体在所述待拍摄画面中所处区域的区域边界,包括:
从所述目标群体中识别出邻近所述待拍摄画面边框的至少1个目标对象;
根据所述至少1个目标对象所处区域的区域边界,确定所述目标群体所处区域的区域边界。
在一些实施例中,所述根据所述区域边界所构建的几何图形,调整拍摄角度,包括:
根据所述几何图形的特征信息,确定所述几何图形是否处于所述待拍摄画面的预设位置;
若为否,调整拍摄角度,直至所述几何图形处于所述待拍摄画面的预设位置。
在一些实施例中,所述方法还包括:
从所述待拍摄画面中识别出所述目标群体包含的至少2个目标子对 象;
判断所述至少2个目标子对象是否一致;
若一致,对所述目标群体进行拍摄。
在一些实施例中,所述判断所述至少2个目标子对象是否一致,包括:
分别确定所述至少2个目标子对象各自对应的目标特征;
统计目标特征相同的目标子对象的数量;
判断所述数量是否大于预设阈值;
若为是,则确定所述至少2个目标子对象一致。
在一些实施例中,所述方法还包括:
建立用户自定义手势模型。
第二方面,本发明实施例提供了一种拍摄控制装置,所述装置包括:
待拍摄画面获取模块,用于获取包含目标群体的待拍摄画面,所述目标群体包括至少2个目标对象;
区域边界确定模块,用于确定所述目标群体在所述待拍摄画面中所处区域的区域边界;
拍摄角度调整模块,用于根据所述区域边界所构建的几何图形,调整拍摄角度。
在一些实施例中,所述区域边界确定模块具体用于:
从所述目标群体中识别出邻近所述待拍摄画面边框的至少1个目标对象;
根据所述至少1个目标对象所处区域的区域边界,确定所述目标群体所处区域的区域边界。
在一些实施例中,所述拍摄角度调整模块具体用于:
根据所述几何图形的特征信息,确定所述几何图形是否处于所述待拍摄画面的预设位置;
若为否,调整拍摄角度,直至所述几何图形处于所述待拍摄画面的预设位置。
在一些实施例中,所述装置还包括:
目标子对象识别模块,用于从所述待拍摄画面中识别出所述目标群体包含的至少2个目标子对象;
判断模块,用于判断所述至少2个目标子对象是否一致;
拍摄模块,用于当所述判断模块判断到所述至少2个目标子对象一致时,对所述目标群体进行拍摄。
在一些实施例中,所述判断模块具体用于:
分别确定所述至少2个目标子对象各自对应的目标特征;
统计目标特征相同的目标子对象的数量;
判断所述数量是否大于预设阈值;
若为是,则确定所述至少2个目标子对象一致。
在一些实施例中,所述装置还包括:
手势模型建立模块,用于建立用户自定义手势模型。
第三方面,本发明实施例提供了一种飞行器,包括:
至少一个处理器;以及,
与所述至少一个处理器通信连接的存储器;其中,
所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述至少一个处理器能够执行如上所述的拍摄控制方法。
第四方面,本发明实施例提供了一种计算机程序产品,所述计算机 程序产品包括存储在非易失性计算机可读存储介质上的计算机程序,所述计算机程序包括程序指令,当所述程序指令被飞行器执行时,使所述飞行器执行如上所述的拍摄控制方法。
第五方面,本发明实施例还提供了一种非易失性计算机可读存储介质,所述计算机可读存储介质存储有计算机可执行指令,所述计算机可执行指令用于使飞行器执行如上所述的拍摄控制方法。
本发明实施例根据区域边界所构建的几何图形来实现自动调整拍摄角度,从而获取得到合适的拍摄图像或拍摄画面,减少了拍摄过程中对飞行器的手动干涉,而且减少手动操作对续航时间的占用,从而提高了飞行器的续航能力。并且,本发明实施例提供的拍摄控制方法特别适用于多目标拍摄,为多目标拍摄确定合适的拍摄角度。
一个或多个实施例通过与之对应的附图中的图片进行示例性说明,这些示例性说明并不构成对实施例的限定,附图中具有相同参考数字标号的元件表示为类似的元件,除非有特别申明,附图中的图不构成比例限制。
图1是本发明实施例提供的无人机的示意图;
图2是本发明实施例提供的无人机的架构示意图;
图3是本发明实施例提供的一种拍摄控制的流程示意图;
图4是本发明实施例提供包含目标群体的待拍摄画面示意图;
图5是本发明实施例提供另一种拍摄控制的流程示意图;
图6是本发明实施例提供的判断所述至少2个目标子对象是否一致 的流程示意图;
图7是本发明实施例提供的一种拍摄控制装置示意图;
图8是本发明实施例提供的另一种拍摄控制装置示意图;
图9是本发明实施例提供的飞行器硬件结构示意图。
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
此外,下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
本发明实施例提供了一种拍摄控制方法、装置和飞行器。该拍摄控制方法可应用于各种飞行器,以下对本发明的描述使用无人机(Unmanned Aerial Vehicle,UAV)作为飞行器的示例。对于本领域技术人员将会显而易见的是,可以不受限制地使用其他类型的飞行器,本发明实施例可以应用于各种类型的UAV。例如,UAV可以是小型的UAV。在某些实施例中,UAV可以是旋翼飞行器(rotorcraft),例如,由多个推动装置通过空气推动的多旋翼飞行器,本发明的实施例并不限于此,UAV也可以是其它类型的UAV或可移动装置。
请请参阅图1和图2,是根据本发明的实施例的无人机100的示意图。
无人机100可以包括机架110、动力***120、飞行控制***130、云台140、图像采集装置150等。其中,飞行控制***130设置于机架 110内,云台140安装于机架110,飞行控制***130可以与动力***120、云台140、图像采集装置150进行耦合,以实现通信。
机架110可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂,一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接,用于在无人机100着陆时起支撑作用。
动力***120可以包括电子调速器(简称为电调)121、一个或多个螺旋桨123以及与一个或多个螺旋桨123相对应的一个或多个电机122,其中电机122连接在电子调速器121与螺旋桨123之间,电机122和螺旋桨123设置在对应的机臂上;电子调速器121用于接收飞行控制***130产生的驱动信号,并根据驱动信号提供驱动电流给电机122,以控制电机122的转速。电机122用于驱动螺旋桨旋转,从而为无人机100的飞行提供动力,该动力使得无人机100能够实现一个或多个自由度的运动。在某些实施例中,无人机100可以围绕一个或多个旋转轴旋转。例如,上述旋转轴可以包括横滚轴、平移轴和俯仰轴。可以理解的是,电机122可以是直流电机,也可以交流电机。另外,电机122可以是无刷电机,也可以有刷电机。
飞行控制***130可以包括飞行控制器131和传感***132。传感***132用于测量无人机100的姿态信息,即无人机100在空间的位置信息和状态信息,例如,三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***132例如可以包括陀螺仪、电子罗盘、惯性测量单元(Inertial Measurement Unit,IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如,全球导航卫星***可以是全球定位***(Global Positioning System,GPS)。飞行控制器131用于控制无人机100的飞行,例如,可以根据传感***132测量的姿态信息控制无人机100的飞行。可以理解的是,飞行控制器131可以按照 预先编好的程序指令对无人机100进行控制,也可以通过响应来自其它设备的一个或多个控制指令对无人机100进行控制。
云台140可以包括电调141和电机142。云台140用于搭载图像采集装置150。飞行控制器131可以通过电调141和电机142控制云台140的运动。可选地,在一些其它实施例中,云台140还可以包括控制器,用于通过控制电调141和电机142来控制云台140的运动。可以理解的是,云台140可以独立于无人机100,也可以为无人机100的一部分。可以理解的是,电机142可以是直流电机,也可以交流电机。另外,电机142可以是无刷电机,也可以有刷电机。还可以理解的是,云台140可以位于机架110的顶部,也可以位于机架110的底部。
图像采集装置150可以是照相机或摄像机等用于采集图像的装置,图像采集装置150可以与飞行控制***130通信,并在飞行控制***130的控制下进行拍摄。
可以理解的是,上述对于无人机100各组成部分的命名仅是出于标识的目的,并不应理解为对本发明的实施例的限制。
实施例1:
图3为本发明实施例提供的一种拍摄控制方法的流程示意图。本发明实施例的一种拍摄控制方法可由上述无人机中的各组成部分配合执行在此不予限定。
请参阅图3,所述拍摄控制方法包括:
301:获取包含目标群体的待拍摄画面,所述目标群体包括至少2个目标对象。
无人机飞到空中并在空中悬停时,用户可以先对挂载有图像采集装置的云台的角度进行调节,使图像采集装置朝向包含有目标群体的方向。 无人机可以获取由图像采集装置采集到的包含目标群体的待拍摄画面。其中,所述图像采集装置可以为相机、摄像机等图像采集设备。
图4为获取的包含目标群体的待拍摄画面示意图,其中,所述待拍摄画面410是指由图像采集装置采集到的包含目标群体的整体的图像,所述目标群体420是指由图像采集装置采集到的目标人群,所述目标群体420包含至少2个目标对象,也即包含至少2个独立的人,如图4所示包含3个人。可以理解的是,本发明实施例对目标对象的数量不做具体限制。例如,目标对象为2个、3个、4个等。并且,在一些其它实施例中,所述目标群体也可以为动物群体等。
需要说明的是,图4只是获取的包含目标群体的待拍摄画面示意图,是出于示例性说明的目的,并不应理解为对本发明实施例的限制。
302:确定所述目标群体在所述待拍摄画面中所处区域的区域边界。
请复参阅图4,所述目标群体的每个目标对象均对应有一个区域边界,如目标对象A对应的区域边界4301,目标对象B对应的区域边界4302,目标对象C对应的区域边界4303等。所述目标群体中的所有目标对象的区域边界的集合组成所述目标群体在所述待拍摄画面中所处区域的区域边界430。
一个目标对象的区域边界可以由该目标对象在所述待拍摄画面中所处区域的边界点的集合经过处理得到,具体的,通过曲线逼近方法(如二次曲线逼近法等)可以将边界点的集合进行拟合,以得到该目标对象的轮廓线,也即该目标对象的区域边界。
303:根据所述区域边界所构建的几何图形,调整拍摄角度。
具体的,所述无人机首先根据所述目标群体在所述待拍摄画面中所处区域的区域边界构建所述区域边界对应的几何图形,然后根据所述几何图像调整拍摄角度,以便获取得到合适的拍摄图像或拍摄画面。
其中,根据所述区域边界所构建的几何图形的为可完全包含所述区域边界的最小几何图形,该几何图形可以为长方形、正方形、圆形、五边形等图形,该几何图形的具体形状在本发明实施例中,不做限制。
所述无人机根据所述几何图形调整拍摄角度可以包括:所述无人机判断所述几何图形是否处于所述待拍摄画面的预设位置,若为否,则调整拍摄角度,直至所述几何图形处于所述待拍摄画面的预设位置。其中,所述调整拍摄角度包括但不限于:所述无人机通过调整无人机的拍摄位置或拍摄姿态以调整拍摄角度;或者调整无人机的飞行姿态(如前、后、左、右、上、下等飞行)以调整拍摄角度;或者通过控制无人机的云台以调整搭载于该云台上的图像采集装置的位置或姿态从而调整拍摄角度。
本发明实施例,可以实现自动调整拍摄角度,从而获取得到合适的拍摄图像或拍摄画面,减少了拍摄过程中对飞行器的手动干涉,而且减少手动操作对续航时间的占用,从而提高了飞行器的续航能力。并且,本发明实施例提供的拍摄控制方法特别适用于多目标拍摄,为多目标拍摄确定合适的拍摄角度。
实施例2:
图5为本发明实施例提供的另一种拍摄控制方法的流程示意图。本发明实施例的另一种拍摄控制方法可由无人机执行,本发明实施例并不限于此,本实施例以无人机为例进行说明。
参照图5,所述拍摄控制方法包括:
501:获取包含目标群体的待拍摄画面,所述目标群体包括至少2个目标对象。
无人机飞到空中并在空中悬停时,用户可以先对挂载有图像采集装 置的云台的角度进行调节,使图像采集装置朝向包含有目标群体的方向。所述无人机可以获取由图像采集装置采集到的包含目标群体的待拍摄画面。其中,所述图像采集装置可以为相机、摄像机等图像采集设备。
其中,所述待拍摄画面是指由图像采集装置采集到的包含目标群体的整体的图像,所述目标群体是指由图像采集装置采集到的目标人群,所述目标群体包含至少2个目标对象,也即包含至少2个独立的人。可以理解的是,本发明实施例对目标对象的数量不做具体限制。例如,目标对象为2个、3个、4个等。并且,在一些其它实施例中,所述目标群体也可以为动物群体,所述目标群体为单个的动物,所述目标群体为单个的动物等。
502:确定所述目标群体在所述待拍摄画面中所处区域的区域边界。
所述目标群体的每个目标对象均对应有一个区域边界,所述目标群体中的所有目标对象的区域边界的集合组成所述目标群体在所述待拍摄画面中所处区域的区域边界。
一个目标对象的区域边界可以由该目标对象在所述待拍摄画面中所处区域的边界点的集合经过处理得到,具体的,通过曲线逼近方法(如二次曲线逼近法等)可以将边界点的集合进行拟合,以得到该目标对象的轮廓线,也即该目标对象的区域边界。
其中,所述确定所述目标群体在所述待拍摄画面中所处区域的区域边界,具体可以包括:从所述目标群体中识别出邻近所述待拍摄画面边框的至少1个目标对象;根据所述至少1个目标对象所处区域的区域边界,确定所述目标群体所处区域的区域边界。
具体的,首先,对所述目标群体中的所述目标对象进行识别,以获取每个所述目标对象的位置。然后,将各个所述目标对象的位置与所述待拍摄画面边框进行对比,从而确定邻近所述待拍摄画面边框的至少1 个目标对象。最后,根据邻近所述待拍摄画面边框的至少1个目标对象所处区域的区域边界,确定所述目标群体所处区域的区域边界。
举例说明,如图4中所示的待拍摄画面,对所述目标群体中的所述目标对象进行识别,从而获取得到目标对象A的位置m、目标对象B的位置n及目标对象C的位置h,其中,各个目标对象的位置可以为该目标对象的中心点。然后将各个位置与所述待拍摄画面边框进行对比,也即分别获取位置m、位置n及位置h与所述待拍摄画面的各条边(边1、边2、边3和边4)的距离,通过比较得到目标对象A距离边1最近,目标对象C距离边3最近,因此,将目标对象A与目标对象C作为邻近所述待拍摄画面边框的目标对象,并且根据目标对象A与目标对象C所处区域的区域边界,确定所述目标群体所处区域的区域边界。
503:根据所述区域边界所构建的几何图形,调整拍摄角度。
具体的,所述无人机首先根据所述目标群体在所述待拍摄画面中所处区域的区域边界构建所述区域边界对应的几何图形,然后根据所述几何图像生成调节指令,以调整拍摄角度,以便获取得到合适的拍摄图像或拍摄画面。
其中,根据所述区域边界所构建的几何图形的为可完全包含所述区域边界的最小几何图形,该几何图形可以为长方形、正方形、圆形、五边形等图形,该几何图形的具体形状在本发明实施例中,不做限制。
所述根据所述区域边界所构建的几何图形,调整拍摄角度,具体可以包括:根据所述几何图形的特征信息,确定所述几何图形是否处于所述待拍摄画面的预设位置;若为否,调整拍摄角度,直至所述几何图形处于所述待拍摄画面的预设位置。其中,所述特征信息包括所述几何图形的几何中心和几何图形的各条边的信息等。例如,可以根据所述几何图形的几何中心和/或几何图形的各条边的信息,以确定所述几何图形 是否处于所述待拍摄画面的预设位置。所述预设位置可以是根据用户的操作生成的预设位置,以便使得拍摄角度及拍摄出的画面符合用户的期望;在一些实施例中,所述预设位置还可以是预先配置在所述无人机中的位置。
其中,所述调整拍摄角度包括但不限于:所述无人机发送调节指令,以控制无人机飞行至对应的拍摄位置从而调整拍摄角度;或者所述无人机发送调节指令,以控制无人机的飞行姿态(如前、后、左、右、上、下等飞行)从而调整拍摄角度;或者所述无人机发送调节指令,以通过控制无人机的云台来调整搭载于该云台上的图像采集装置的位置或姿态从而调整拍摄角度。
504:从所述待拍摄画面中识别出所述目标群体包含的至少2个目标子对象。
其中,所述目标子对象可以为所述目标对象的手势、肢体动作或运动轨迹等。
505:判断所述至少2个目标子对象是否一致。
如图6所示,为判断所述至少2个目标子对象是否一致的具体流程图。其中,所述步骤505判断所述至少2个目标子对象是否一致,包括:
5051:分别确定所述至少2个目标子对象各自对应的目标特征;
可以通过所述待拍摄画面进行预处理、图像分割及特征提取等图像处理技术获取所述至少2个目标子对象各自对应的目标特征。其中,预处理主要是对所述待拍摄画面进行去燥、平滑等处理以去除所述待拍摄画面中常出现的坏点或空洞等。图像分割主要是将目标子对象分割出来以便于对目标子对象进行特征提取,从而获取得到目标特征。
5052:统计目标特征相同的目标子对象的数量。
该相同可以是目标特征完全相同,也可以认为目标特征大致相同即 为目标特征相同,也即目标特征中相同特征大于预设的特征阈值即可认为目标特征相同。
5053:判断所述数量是否大于预设阈值。
所述预设阈值可以是用户自定义设置的值,也可以是预先配置在所述无人机中的值。将所述目标特征相同的目标子对象的数量与所述预设阈值进行比较,以判断所述数量是否大于预设阈值。
5054:若所述数量大于预设阈值,则确定所述至少2个目标子对象一致。
当所述数量大于预设阈值时,即可确定为所述至少2个目标子对象一致。
506:若所述至少2个目标子对象是一致,对所述目标群体进行拍摄。
当所述至少2个目标子对象是一致时,即可对所述目标群体进行拍摄。通过判断所述至少2个目标子对象是否一致,以确定是否对目标群体进行拍摄,一方面可以防止目标群体中的目标对象的误操作而触发拍摄;另一方面可以提高用户的参与感。
在一些实施例中,所述对所述目标群体进行拍摄包括:将目标子对象与预设的子对象进行匹配,若匹配成功,触发对所述目标群体进行拍摄,以便进一步防止用户误操作。该预设的子对象可以为预设的手势、预设的肢体动作或预设的运动轨迹等。下面以预设的手势为例进行说明。该预设的手势包括:预先配置在所述无人机中的手势或预先用户自定义的手势等。
当所述预设的手势包含预先用户自定义的手势时,所述拍摄控制方法还包括:
507:建立用户自定义的手势模型。
在一个实施例中,步骤506之前,还需要将图像采集装置的模式设置为合影模式,这样图像采集装置才会识别目标群体并获取包含目标群体的拍摄画面。合影模式是通过识别目标群体中目标子对象而进行的自动拍摄。因此,这里还需要判断是否有预先定义目标子对象,如果没有,则需要先建立用户自定义的目标子对象。在本实施例中,以目标子对象为手势模型为例,可以理解,在其他实施例中,目标子对象可以为预先设置的手势、肢体动作或运动轨迹等。
其中,所述无人机建立用户自定义的手势模型包括:获取用户的手势图像;对所述手势图像进行预处理和手势分割,以得到手部特征信息;根据所述手部特征信息,建立手势模型。建立手势模型后,可将所述手势模块存储于所述无人机中。
可以理解的是,在一些实施例中,所述步骤504-507在不同的实施例中,可以不是必选步骤,另外,根据本发明实施例的描述可以理解,在不同实施例中,在不矛盾的情况下,所述步骤501-507可以有不同的执行顺序。
还需要说明的是,本发明实施例中所述步骤501-507中未详尽描述的技术细节,可参考上述实施例的具体描述。
本发明实施例,可以实现自动调整拍摄角度,从而获取得到合适的拍摄图像或拍摄画面,减少了拍摄过程中对飞行器的手动干涉,而且减少手动操作对续航时间的占用,从而提高了飞行器的续航能力。并且,本发明实施例提供的拍摄控制方法特别适用于多目标拍摄,为多目标拍摄确定合适的拍摄角度。
实施例3:
图7为本发明实施例提供的一种拍摄控制装置示意图。其中,所述 装置70可配置于上述无人机中。
参照图7,所述拍摄控制装置70包括:
待拍摄画面获取模块701,用于获取包含目标群体的待拍摄画面,所述目标群体包括至少2个目标对象。
所述待拍摄画面获取模块701可以获取由图像采集装置采集到的包含目标群体的待拍摄画面。其中,所述图像采集装置可以为相机、摄像机等图像采集设备。
其中,所述待拍摄画面是指由图像采集装置采集到的包含目标群体的整体的图像,所述目标群体是指由图像采集装置采集到的目标人群,所述目标群体包含至少2个目标对象,也即包含至少2个独立的人。可以理解的是,本发明实施例对目标对象的数量不做具体限制。例如,目标对象为2个、3个、4个等。并且,在一些其它实施例中,所述目标群体也可以为动物群体,所述目标群体为单个的动物,所述目标群体为单个的动物等。
区域边界确定模块702,用于确定所述目标群体在所述待拍摄画面中所处区域的区域边界。
所述目标群体的每个目标对象均对应有一个区域边界,所述目标群体中的所有目标对象的区域边界的集合组成所述目标群体在所述待拍摄画面中所处区域的区域边界。
一个目标对象的区域边界可以由该目标对象在所述待拍摄画面中所处区域的边界点的集合经过处理得到,具体的,通过曲线逼近方法(如二次曲线逼近法等)可以将边界点的集合进行拟合,以得到该目标对象的轮廓线,也即该目标对象的区域边界。
拍摄角度调整模块703,用于根据所述区域边界所构建的几何图形,调整拍摄角度。
具体的,所述拍摄角度调整模块703首先根据所述目标群体在所述待拍摄画面中所处区域的区域边界构建所述区域边界对应的几何图形,然后根据所述几何图像调整拍摄角度,以便获取得到合适的拍摄图像或拍摄画面。
其中,根据所述区域边界所构建的几何图形的为可完全包含所述区域边界的最小几何图形,该几何图形可以为长方形、正方形、圆形、五边形等图形,该几何图形的具体形状在本发明实施例中,不做限制。
所述拍摄角度调整模块703根据所述几何图形调整拍摄角度可以包括:所述拍摄角度调整模块703判断所述几何图形是否处于所述待拍摄画面的预设位置,若为否,则调整拍摄角度,直至所述几何图形处于所述待拍摄画面的预设位置。其中,所述调整拍摄角度包括但不限于:所述拍摄角度调整模块703通过调整无人机的拍摄位置或拍摄姿态以调整拍摄角度;或者调整无人机的飞行姿态(如前、后、左、右、上、下等飞行)以调整拍摄角度;或者通过控制无人机的云台以调整搭载于该云台上的图像采集装置的位置或姿态从而调整拍摄角度。
需要说明的是,在本发明实施例中,所述拍摄控制装置70可执行本发明实施例1所提供的拍摄控制方法,具备执行方法相应的功能模块和有益效果。未在拍摄控制装置70的实施例中详尽描述的技术细节,可参见本发明实施例1所提供的拍摄控制方法。
实施例4:
图8为本发明实施例提供的一种拍摄控制装置示意图。其中,所述装置80可配置于上述无人机中。
参照图8,所述拍摄控制装置80包括:
待拍摄画面获取模块801,用于获取包含目标群体的待拍摄画面, 所述目标群体包括至少2个目标对象。
所述待拍摄画面获取模块801可以获取由图像采集装置采集到的包含目标群体的待拍摄画面。其中,所述图像采集装置可以为相机、摄像机等图像采集设备。
其中,所述待拍摄画面是指由图像采集装置采集到的包含目标群体的整体的图像,所述目标群体是指由图像采集装置采集到的目标人群,所述目标群体包含至少2个目标对象,也即包含至少2个独立的人。可以理解的是,本发明实施例对目标对象的数量不做具体限制。例如,目标对象为2个、3个、4个等。并且,在一些其它实施例中,所述目标群体也可以为动物群体,所述目标群体为单个的动物,所述目标群体为单个的动物等。
区域边界确定模块802,用于确定所述目标群体在所述待拍摄画面中所处区域的区域边界。
所述目标群体的每个目标对象均对应有一个区域边界,所述目标群体中的所有目标对象的区域边界的集合组成所述目标群体在所述待拍摄画面中所处区域的区域边界。
一个目标对象的区域边界可以由该目标对象在所述待拍摄画面中所处区域的边界点的集合经过处理得到,具体的,通过曲线逼近方法(如二次曲线逼近法等)可以将边界点的集合进行拟合,以得到该目标对象的轮廓线,也即该目标对象的区域边界。
其中,所述区域边界确定模块802具体用于:从所述目标群体中识别出邻近所述待拍摄画面边框的至少1个目标对象;根据所述至少1个目标对象所处区域的区域边界,确定所述目标群体所处区域的区域边界。
具体的,首先,对所述目标群体中的所述目标对象进行识别,以获取每个所述目标对象的位置。然后,将各个所述目标对象的位置与所述 待拍摄画面边框进行对比,从而确定邻近所述待拍摄画面边框的至少1个目标对象。最后,根据邻近所述待拍摄画面边框的至少1个目标对象所处区域的区域边界,确定所述目标群体所处区域的区域边界。
拍摄角度调整模块803,用于根据所述区域边界所构建的几何图形,调整拍摄角度。
具体的,所述拍摄角度调整模块803首先根据所述目标群体在所述待拍摄画面中所处区域的区域边界构建所述区域边界对应的几何图形,然后根据所述几何图像调整拍摄角度,以便获取得到合适的拍摄图像或拍摄画面。
其中,根据所述区域边界所构建的几何图形的为可完全包含所述区域边界的最小几何图形,该几何图形可以为长方形、正方形、圆形、五边形等图形,该几何图形的具体形状在本发明实施例中,不做限制。
所述拍摄角度调整模块803具体用于:根据所述几何图形的特征信息,确定所述几何图形是否处于所述待拍摄画面的预设位置;若为否,调整拍摄角度,直至所述几何图形处于所述待拍摄画面的预设位置。其中,所述特征信息包括所述几何图形的几何中心和几何图形的各条边的信息等。例如,可以根据所述几何图形的几何中心和/或几何图形的各条边的信息,以确定所述几何图形是否处于所述待拍摄画面的预设位置。所述预设位置可以是根据用户的操作生成的预设位置,以便使得拍摄角度及拍摄出的画面符合用户的期望;在一些实施例中,所述预设位置还可以是预先配置在所述无人机中的位置。
其中,所述拍摄角度调整模块803调整拍摄角度包括但不限于:所述拍摄角度调整模块803发送调节指令,以控制无人机飞行至对应的拍摄位置从而调整拍摄角度;或者所述拍摄角度调整模块803发送调节指令,以控制无人机的飞行姿态(如前、后、左、右、上、下等飞行)从 而调整拍摄角度;或者所述拍摄角度调整模块803发送调节指令,以通过控制无人机的云台来调整搭载于该云台上的图像采集装置的位置或姿态从而调整拍摄角度。
目标子对象识别模块804,用于从所述待拍摄画面中识别出所述目标群体包含的至少2个目标子对象。
其中,所述目标子对象可以为所述目标对象的手势、肢体动作或运动轨迹等。
判断模块805,用于判断所述至少2个目标子对象是否一致。
所述判断模块805具体用于:分别确定所述至少2个目标子对象各自对应的目标特征;统计目标特征相同的目标子对象的数量;判断所述数量是否大于预设阈值;若所述数量大于预设阈值,则确定所述至少2个目标子对象一致。
拍摄模块806,用于当所述判断模块判断到所述至少2个目标子对象一致时,对所述目标群体进行拍摄。
当所述至少2个目标子对象是一致时,所述拍摄模块806即可对所述目标群体进行拍摄。通过判断模块805判断所述至少2个目标子对象是否一致,再通过拍摄模块806确定是否对目标群体进行拍摄,一方面可以防止目标群体中的目标对象的误操作而触发拍摄;另一方面可以提高用户的参与感。
在一些实施例中,所述拍摄模块806对所述目标群体进行拍摄还用于:将目标子对象与预设的子对象进行匹配,若匹配成功,触发对所述目标群体进行拍摄,以便进一步防止用户误操作。该预设的子对象可以为预设的手势、预设的肢体动作或预设的运动轨迹等。下面以预设的手势为例进行说明。该预设的手势包括:预先配置在所述无人机中的手势或预先用户自定义的手势等。
当所述预设的手势包含预先用户自定义的手势时,所述拍摄控制方法还包括:
手势模型建立模块807,用于建立用户自定义的手势模型。
其中,所述手势模型建立模块807具体用于:获取用户的手势图像;对所述手势图像进行预处理和手势分割,以得到手部特征信息;根据所述手部特征信息,建立手势模型。建立手势模型后,可将所述手势模块存储于所述无人机中。
需要说明的是,在本发明实施例中,所述拍摄控制装置80可执行本发明实施例2所提供的拍摄控制方法,具备执行方法相应的功能模块和有益效果。未在拍摄控制装置80的实施例中详尽描述的技术细节,可参见本发明实施例2所提供的拍摄控制方法。
实施例5:
图9为本发明实施例提供的飞行器硬件结构示意图。所述飞行器可以为无人机、无人船等。如图9所示,所述飞行器90包括:
一个或多个处理器901以及存储器902,图9中以一个处理器901为例。
处理器901和存储器902可以通过总线或者其他方式连接,图9中以通过总线连接为例。
存储器902作为一种非易失性计算机可读存储介质,可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块,如本发明实施例提供的拍摄控制方法对应的程序指令/模块(例如,附图8所示的待拍摄画面获取模块801、区域边界确定模块802、拍摄角度调整模块803、目标子对象识别模块804、判断模块805、拍摄模块806及手势模型建立模块807)。处理器901通过运行存储在存储器902中的非易失性软件 程序、指令以及模块,从而执行飞行器的各种功能应用以及数据处理,即实现所述方法实施例提供的拍摄控制方法。
存储器902可以包括存储程序区和存储数据区,其中,存储程序区可存储操作***、至少一个功能所需要的应用程序;存储数据区可存储根据飞行器使用所创建的数据等。此外,存储器902可以包括高速随机存取存储器,还可以包括非易失性存储器,例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中,存储器902可选包括相对于处理器901远程设置的存储器,这些远程存储器可以通过网络连接至飞行器。所述网络的实施例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器902中,当被所述一个或者多个处理器901执行时,执行本发明实施例提供的拍摄控制方法,例如,执行以上描述的图5中的方法步骤501至步骤507,或实现图8中的801-807模块的功能。
示例性地,该飞行器还可以包括通信接口,该通信接口用以实现与其他设备,如服务器等,进行通信。飞行器包括的其他装置在此不予限定。
所述飞行器可执行本发明实施例提供的拍摄控制方法,具备执行方法相应的功能模块和有益效果。未在飞行器实施例中详尽描述的技术细节,可参见本发明实施例提供的拍摄控制方法。
本发明实施例提供了一种计算机程序产品,所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序,所述计算机程序包括程序指令,当所述程序指令被所述飞行器执行时,使所述飞行器执行本发明实施例提供的拍摄控制方法。例如,执行以上描述的图5中的方法步骤501至步骤507,或实现图8中的801-807模块的功能。
本发明实施例提供了一种非易失性计算机可读存储介质,所述计算机可读存储介质存储有计算机可执行指令,所述计算机可执行指令用于使飞行器执行本发明实施例提供的拍摄控制方法。例如,执行以上描述的图5中的方法步骤501至步骤507,或实现图8中的801-807模块的功能。
需要说明的是,以上所描述的装置实施例仅仅是示意性的,其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述,本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现,当然也可以通过硬件。本领域普通技术人员可以理解实现所述实施例方法中的全部或部分流程是可以通过计算机程序指令相关的硬件来完成,所述的程序可存储于计算机可读取存储介质中,该程序在执行时,可包括如所述各方法的实施例的流程。其中,所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;在本发明的思路下,以上实施例或者不同实施例中的技术特征之间也可以进行组合,步骤可以以任意顺序实现,并存在如上所述的本发明的不同方面的许多其它变化,为了简明,它们没有在细节中提供;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使 相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (13)
- 一种拍摄控制方法,其特征在于,所述方法包括:获取包含目标群体的待拍摄画面,所述目标群体包括至少2个目标对象;确定所述目标群体在所述待拍摄画面中所处区域的区域边界;根据所述区域边界所构建的几何图形,调整拍摄角度。
- 根据权利要求1所述的方法,其特征在于,所述确定所述目标群体在所述待拍摄画面中所处区域的区域边界,包括:从所述目标群体中识别出邻近所述待拍摄画面边框的至少1个目标对象;根据所述至少1个目标对象所处区域的区域边界,确定所述目标群体所处区域的区域边界。
- 根据权利要求1或2所述的方法,其特征在于,所述根据所述区域边界所构建的几何图形,调整拍摄角度,包括:根据所述几何图形的特征信息,确定所述几何图形是否处于所述待拍摄画面的预设位置;若为否,调整拍摄角度,直至所述几何图形处于所述待拍摄画面的预设位置。
- 根据权利要求1-3任一项所述的方法,其特征在于,所述方法还包括:从所述待拍摄画面中识别出所述目标群体包含的至少2个目标子对 象;判断所述至少2个目标子对象是否一致;若一致,对所述目标群体进行拍摄。
- 根据权利要求4所述的方法,其特征在于,所述判断所述至少2个目标子对象是否一致,包括:分别确定所述至少2个目标子对象各自对应的目标特征;统计目标特征相同的目标子对象的数量;判断所述数量是否大于预设阈值;若为是,则确定所述至少2个目标子对象一致。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:建立用户自定义手势模型。
- 一种拍摄控制装置,其特征在于,所述装置包括:待拍摄画面获取模块,用于获取包含目标群体的待拍摄画面,所述目标群体包括至少2个目标对象;区域边界确定模块,用于确定所述目标群体在所述待拍摄画面中所处区域的区域边界;拍摄角度调整模块,用于根据所述区域边界所构建的几何图形,调整拍摄角度。
- 根据权利要求7所述的装置,其特征在于,所述区域边界确定模块具体用于:从所述目标群体中识别出邻近所述待拍摄画面边框的至少1个目标 对象;根据所述至少1个目标对象所处区域的区域边界,确定所述目标群体所处区域的区域边界。
- 根据权利要求7或8所述的装置,其特征在于,所述拍摄角度调整模块具体用于:根据所述几何图形的特征信息,确定所述几何图形是否处于所述待拍摄画面的预设位置;若为否,调整拍摄角度,直至所述几何图形处于所述待拍摄画面的预设位置。
- 根据权利要求7-9任一项所述的装置,其特征在于,所述装置还包括:目标子对象识别模块,用于从所述待拍摄画面中识别出所述目标群体包含的至少2个目标子对象;判断模块,用于判断所述至少2个目标子对象是否一致;拍摄模块,用于当所述判断模块判断到所述至少2个目标子对象一致时,对所述目标群体进行拍摄。
- 根据权利要求10所述的装置,其特征在于,所述判断模块具体用于:分别确定所述至少2个目标子对象各自对应的目标特征;统计目标特征相同的目标子对象的数量;判断所述数量是否大于预设阈值;若为是,则确定所述至少2个目标子对象一致。
- 根据权利要求7所述的装置,其特征在于,所述装置还包括:手势模型建立模块,用于建立用户自定义手势模型。
- 一种飞行器,其特征在于,包括:至少一个处理器;以及,与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述至少一个处理器能够执行权利要求1-6的任一项所述的方法。
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