WO2021232235A1

WO2021232235A1 - Image stabilization method, zoom camera, pan-tilt camera and unmanned aerial vehicle

Info

Publication number: WO2021232235A1
Application number: PCT/CN2020/091042
Authority: WO
Inventors: 邹文; 于雄飞; 李兵
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-19
Filing date: 2020-05-19
Publication date: 2021-11-25
Also published as: CN113966608A

Abstract

Disclosed in the embodiments of the present application is an image stabilization method used for a zoom camera, and the zoom range of the camera comprises a plurality of focal length sections. The method comprises: determining the current zoom magnification of the zoom camera; and adjusting an image stabilization strategy of the zoom camera to an image stabilization strategy corresponding to the focal length sections where the current zoom magnification is located, wherein the image stabilization strategies corresponding to the focal length sections are different, and the zoom magnifications in the focal length sections are in positive correlation with the stabilization intensity of the image stabilization strategies corresponding to the focal length sections. The method provided by the embodiments of the present application solves the problem that a shot image becomes increasingly distorted as a zoom camera zooms to a high magnification.

Description

图像增稳方法、变焦相机、云台相机与无人机Image stabilization method, zoom camera, pan-tilt camera and drone

技术领域Technical field

本申请涉及摄像技术领域，尤其涉及一种图像增稳方法、变焦相机、云台相机、无人机与计算机可读存储介质。This application relates to the field of camera technology, and in particular to an image stabilization method, a zoom camera, a pan-tilt camera, a drone, and a computer-readable storage medium.

背景技术Background technique

在使用相机进行拍摄时，若相机配备的是卷帘快门，则在所拍摄的对象相对于相机高速运动时，拍摄得到的图像中将存在较明显的畸变，这种现象被称为果冻效应。When using a camera for shooting, if the camera is equipped with a rolling shutter, when the object being shot moves at a high speed relative to the camera, there will be obvious distortion in the captured image. This phenomenon is called the jelly effect.

在无人机的应用场景中，桨叶的旋转所产生的振动将传导至相机，使相机出现高频抖动，此时，由于相机所拍摄的对象相对于相机在高频抖动，因此拍摄得到的图像会出现水波纹类型的畸变。虽然这种畸变通过某种增稳手段可以一定程度上得到解决，但也只限于低倍率下的拍摄，在高倍率拍摄时，相机的抖动被放大，原有的增稳手段已无法消除果冻效应所形成的畸变，图像中的水波纹明显。In the application scenario of a drone, the vibration generated by the rotation of the blade will be transmitted to the camera, causing the camera to shake at high frequency. The image will appear water ripple type distortion. Although this kind of distortion can be solved to a certain extent by some stabilization means, it is limited to shooting at low magnification. When shooting at high magnification, the camera shake is magnified, and the original stabilization means can no longer eliminate the jelly effect. The resulting distortion, water ripples in the image are obvious.

发明内容Summary of the invention

为解决向高倍率变焦时所拍摄图像的畸变越发严重的问题，本申请实施例提供一种图像增稳方法、变焦相机、云台相机、无人机与计算机可读存储介质。In order to solve the problem that the distortion of the image taken when zooming to a high magnification becomes more and more serious, embodiments of the present application provide an image stabilization method, a zoom camera, a pan-tilt camera, a drone, and a computer-readable storage medium.

本申请实施例第一方面提供一种图像增稳方法，应用于变焦相机，所述变焦相机的变焦范围包括多个焦距段，所述方法包括：The first aspect of the embodiments of the present application provides an image stabilization method, which is applied to a zoom camera, the zoom range of the zoom camera includes multiple focal lengths, and the method includes:

确定所述变焦相机当前的变焦倍率；Determine the current zoom magnification of the zoom camera;

将所述变焦相机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略；其中，每个所述焦距段对应的图像增稳策略不同，所述焦距段所包含的变焦倍率与所述焦距段对应的图像增稳策略的增稳强度正相关。The image stabilization strategy of the zoom camera is adjusted to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located; wherein, the image stabilization strategy corresponding to each focal length segment is different, and the focal length varies The included zoom magnification is positively correlated with the stabilization strength of the image stabilization strategy corresponding to the focal length.

本申请实施例第二方面提供一种变焦相机，包括：机身、与所述机身连接的变焦镜头、在所述机身内的处理器及存储有计算机程序的存储器；A second aspect of the embodiments of the present application provides a zoom camera, including: a body, a zoom lens connected to the body, a processor in the body, and a memory storing a computer program;

所述变焦镜头的变焦范围包括多个焦距段；The zoom range of the zoom lens includes multiple focal lengths;

所述处理器在执行所述计算机程序时实现以下步骤：The processor implements the following steps when executing the computer program:

本申请实施例第三方面提供一种云台相机，包括：云台以及与所述云台连接的可变焦摄像头；所述可变焦摄像头的变焦范围包括多个焦距段；A third aspect of the embodiments of the present application provides a pan-tilt camera, including: a pan-tilt and a zoom camera connected to the pan-tilt; the zoom range of the zoomable camera includes multiple focal lengths;

所述云台相机还包括：处理器及存储有计算机程序的存储器；The pan-tilt camera further includes: a processor and a memory storing a computer program;

确定所述可变焦摄像头当前的变焦倍率；Determining the current zoom magnification of the zoomable camera;

将所述云台相机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略；其中，每个所述焦距段对应的图像增稳策略不同，所述焦距段所包含的变焦倍率与所述焦距段对应的图像增稳策略的增稳强度正相关。The image stabilization strategy of the pan/tilt camera is adjusted to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located; wherein, the image stabilization strategy corresponding to each focal length segment is different, and the focal length segment The included zoom magnification is positively correlated with the stabilization strength of the image stabilization strategy corresponding to the focal length range.

本申请实施例第四方面提供一种无人机，包括：机体、与所述机体连接的云台、与所述云台连接的可变焦摄像头；A fourth aspect of the embodiments of the present application provides an unmanned aerial vehicle, including: a body, a pan-tilt connected to the body, and a zoomable camera connected to the pan-tilt;

所述可变焦摄像头的变焦范围包括多个焦距段；The zoom range of the zoomable camera includes multiple focal lengths;

所述无人机还包括：处理器及存储有计算机程序的存储器；The unmanned aerial vehicle also includes: a processor and a memory storing a computer program;

将所述无人机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略；其中，每个所述焦距段对应的图像增稳策略不同，所述焦距段所包含的变焦倍率与所述焦距段对应的图像增稳策略的增稳强度正相关、The image stabilization strategy of the UAV is adjusted to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located; wherein, the image stabilization strategy corresponding to each focal length segment is different, and the focal length segment The included zoom magnification is positively correlated with the stabilization strength of the image stabilization strategy corresponding to the focal length,

本申请实施例第五方面提供一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如上述第一方面提供的任一种图像增稳方法。The fifth aspect of the embodiments of the present application provides a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements any of the images provided in the above-mentioned first aspect. Stability enhancement method.

本申请实施例提供的图像增稳方法，可以在变焦相机处于不同的焦距段时采用不同的图像增稳策略，其中，每个焦距段对应的图像增稳策略的增稳强度与该焦距段所包含的变焦倍率是成正比的。因此，随着变焦倍率的增大，虽然相机的抖动也会被放大，但通过采用更高增稳强度的图像增稳策略，可以更有力的抑制相机的抖动，使得高倍率下拍摄得到的图像也不会有明显的果冻效应。The image stabilization method provided by the embodiments of the present application can adopt different image stabilization strategies when the zoom camera is in different focal lengths. Among them, the stabilization strength of the image stabilization strategy corresponding to each focal length is proportional to the focal length. The included zoom magnification is directly proportional. Therefore, with the increase of the zoom magnification, although the camera shake will be enlarged, the image stabilization strategy with higher stabilization intensity can be used to suppress the camera shake more effectively, so that the images taken at high magnification are not There will be a noticeable jelly effect.

附图说明Description of the drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

图1是本申请实施例提供的一种图像增稳方法的流程图。Fig. 1 is a flowchart of an image stabilization method provided by an embodiment of the present application.

图2是本申请实施例提供的一种变焦相机的结构示意图。Fig. 2 is a schematic structural diagram of a zoom camera provided by an embodiment of the present application.

图3是本申请实施例提供的一种云台相机的结构示意图。FIG. 3 is a schematic structural diagram of a pan-tilt camera provided by an embodiment of the present application.

图4是本申请实施例提供的一种无人机的结构示意图。Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

快门是相机中用于控制图像传感器(Sensor)的曝光时间的机构，按照曝光方式的不同，快门可以分为卷帘快门和全局快门。在卷帘快门对应的曝光方式中，图像传感器中的感光阵列是逐行扫描、逐行曝光的，因此，当所拍摄的物体相对于相机高速运动时，由于逐行扫描速度不够，拍摄出的图像就可能出现明显的畸变，比如倾斜、水波纹等，这种现象也被称为果冻效应。The shutter is a mechanism used in the camera to control the exposure time of the image sensor (Sensor). According to the different exposure methods, the shutter can be divided into a rolling shutter and a global shutter. In the exposure mode corresponding to the rolling shutter, the photosensitive array in the image sensor is scanned line by line and exposed line by line. Therefore, when the photographed object moves at a high speed relative to the camera, the photographed image is not enough due to the insufficient progressive scanning speed. Obvious distortions may appear, such as tilt, water ripples, etc. This phenomenon is also known as the jelly effect.

搭载在无人机上的相机通常都配备有云台。在无人机飞行时，桨叶的旋转会给相机带来高频抖动，而相机的高频抖动使得所拍摄的对象也在相对于相机在高频抖动，因此基于卷帘快门的特性，会发生果冻效应。但这种高频抖动在经过减震球的过滤以及云台的增稳控制后可以得到一定的抑制，因此，果冻效应所形成的畸变可以控制在合理的范围，用户仍然拥有较好的体验。The camera mounted on the drone is usually equipped with a gimbal. When the drone is flying, the rotation of the blades will bring high-frequency shaking to the camera, and the high-frequency shaking of the camera makes the object being photographed is also shaking at a high frequency relative to the camera, so based on the characteristics of the rolling shutter, it will The jelly effect occurs. However, this high-frequency jitter can be suppressed to a certain extent after being filtered by the shock-absorbing ball and the stabilization control of the pan/tilt. Therefore, the distortion caused by the jelly effect can be controlled within a reasonable range, and the user still has a better experience.

但若将相机变焦到高倍率下进行拍摄，由于高倍率下相机的抖动会被放大，也就是说，所拍摄的对象相对于相机的高频抖动也被放大，如此，基于卷帘快门的特性，果冻效应所形成的畸变也可以认为被放大，从而导致用户可以在拍摄的图像中看到明显的水波纹，使用户的体验大打折扣。However, if the camera is zoomed to a high magnification for shooting, the camera shake at high magnification will be magnified, that is, the high-frequency shake of the subject relative to the camera is also magnified, so, based on the characteristics of the rolling shutter , The distortion caused by the jelly effect can also be considered to be magnified, causing the user to see obvious water ripples in the captured image, which greatly reduces the user experience.

需要注意的是，上述的问题并不仅限于无人机场景，只要相机具有变焦能力且使用的是卷帘快门，则在拍摄时就会存在上述的果冻效应的问题。并且，这种问题无论是视频拍摄还是照片拍摄也都存在，只不过视频拍摄时，由于图像帧是连续的，果冻效应所形成的畸变会更容易被用户察觉。此外，在一些场景中，上述问题可能会更加严重，比如在消防、电力等行业中，这些行业使用的无人机通常搭载变焦能力较强的相机，而变焦倍率越高，高频抖动的放大程度也越高，上述果冻效应的问题就越严重。It should be noted that the above-mentioned problems are not limited to drone scenes. As long as the camera has zoom capability and a rolling shutter is used, the above-mentioned jelly effect problem will exist when shooting. Moreover, this kind of problem also exists in both video shooting and photo shooting, but during video shooting, since the image frames are continuous, the distortion caused by the jelly effect will be more easily noticed by the user. In addition, in some scenarios, the above problems may be more serious. For example, in industries such as fire fighting and electric power, drones used in these industries are usually equipped with cameras with strong zoom capabilities. The higher the zoom magnification, the higher the high-frequency jitter. The higher the degree, the more serious the above-mentioned jelly effect problem.

为解决上述问题，本申请实施例提供一种图像增稳方法，该图像增稳方法在相机的不同焦距段使用不同的图像增稳策略，在高倍率的焦距段使用增稳强度高一些的图像增稳策略，在低倍率的焦距段使用增稳强度低一些的图像增稳策略，从而可以在从低倍率变焦到高倍率的过程中有效抑制相机的抖动，消除果冻效应所形成的畸变。In order to solve the above problems, the embodiments of the present application provide an image stabilization method. The image stabilization method uses different image stabilization strategies at different focal lengths of the camera, and uses images with higher stabilization intensity at the focal length of high magnification. Stabilization strategy, using a lower stabilization intensity image stabilization strategy in the low-magnification focal length range, which can effectively suppress the camera shake during the zoom from low-magnification to high-magnification, and eliminate the distortion caused by the jelly effect.

可以参见图1，图1是本申请实施例提供的一种图像增稳方法的流程图。该方法应用于变焦相机，该变焦相机的变焦范围可以包括多个焦距段，该变焦相机可以包括CMOS图像传感器，配置的快门可以是卷帘快门，该方法包括：Refer to FIG. 1, which is a flowchart of an image stabilization method provided by an embodiment of the present application. The method is applied to a zoom camera, the zoom range of the zoom camera may include multiple focal lengths, the zoom camera may include a CMOS image sensor, and the configured shutter may be a rolling shutter. The method includes:

步骤S101、确定变焦相机当前的变焦倍率。Step S101: Determine the current zoom magnification of the zoom camera.

步骤S102、将变焦相机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略。Step S102: Adjust the image stabilization strategy of the zoom camera to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located.

上述的本申请实施例提供的图像增稳方法中，在每个焦距段，变焦相机可以采用该焦距段对应的图像增稳策略。并且，随着焦距段所包含的变焦倍率增大，在该焦距段采用的图像增稳策略的增稳强度也越高，也就是说，焦距段所包含的变焦倍率与该焦距段对应的图像增稳策略的增稳强度正相关。In the image stabilization method provided by the above embodiments of the present application, in each focal length segment, the zoom camera can adopt the image stabilization strategy corresponding to the focal length segment. Moreover, as the zoom magnification contained in the focal length increases, the stabilization strength of the image stabilization strategy adopted in this focal length is also higher, that is to say, the zoom magnification contained in the focal length corresponds to the image corresponding to the focal length. The stabilization strength of the stabilization strategy is positively correlated.

由前文可知，在使用相机进行拍摄时，相机的抖动会产生果冻效应，而要抑制相机的抖动可以通过各种图像增稳策略实现。图像增稳策略可以是图像增稳手段的集合，而图像增稳手段从作用方式上可以区分为两种，一种是从物理层面进行增稳的手段，另一种是从软件层面进行增稳的手段。其中，从软件层面进行增稳的手段也可以称为电子防抖(Electric Image Stabilization，EIS)，其在具体实施时，是通过电子防抖算法对图像进行处理。It can be seen from the foregoing that when the camera is used for shooting, the camera shake will produce a jelly effect, and various image stabilization strategies can be used to suppress the camera shake. The image stabilization strategy can be a collection of image stabilization methods, and the image stabilization methods can be divided into two types in terms of action methods, one is the method of stabilization from the physical level, and the other is the method of stabilization from the software level. s method. Among them, the method of stabilization from the software level can also be called electronic image stabilization (EIS), which in specific implementation is to process the image through the electronic image stabilization algorithm.

从物理层面进行增稳的手段有多种。在一种实施方式中，可以为变焦相机配备云台，通过云台的转动来抑制相机的抖动。具体的，变焦相机可以与云台连接，可以通过传感器(如惯性测量单元IMU)测量出变焦相机的倾斜度，并根据该测量出的倾斜度确定云台的转动量，实现对变焦相机的增稳控制。其中，这种变焦相机与云台的组合，也可以称为云台相机。There are many ways to increase stability from the physical level. In one embodiment, the zoom camera may be equipped with a pan/tilt, and the shaking of the camera can be suppressed by the rotation of the pan/tilt. Specifically, the zoom camera can be connected to the pan-tilt, the tilt of the zoom camera can be measured by a sensor (such as an inertial measurement unit IMU), and the amount of rotation of the pan-tilt can be determined according to the measured tilt, so as to increase the zoom camera. Stability control. Among them, the combination of the zoom camera and the pan-tilt can also be called the pan-tilt camera.

除了上述实施方式外，还有多种其他的从物理层面增稳的手段，比如有镜头防抖，即可以在镜头中设置专门的防抖补偿镜组，根据变焦相机的抖动方向和程度，补偿镜组相应调整位置和角度，使光路保持稳定。又比如有感光器件防抖，即通过改变成像器件的位置或角度来保持成像的稳定。In addition to the above-mentioned implementation, there are many other physical methods for stabilization, such as lens anti-shake, that is, a special anti-shake compensation lens group can be set in the lens to compensate according to the direction and degree of the zoom camera shake Adjust the position and angle of the lens group accordingly to keep the light path stable. Another example is the anti-shake of the photosensitive device, that is, the stability of the image can be maintained by changing the position or angle of the imaging device.

对于电子防抖，也有多种可以选用的电子防抖算法，该部分内容具体将在后文中进行说明。For electronic anti-shake, there are also a variety of electronic anti-shake algorithms that can be selected, and the specific content of this part will be explained in the following text.

上述所提供的各种图像增稳手段，在实际使用时可以根据需要灵活的组合，从而得到各种不同的图像增稳策略。由于不同的图像增稳策略包含的图像增稳手段不同，因此不同的图像增稳策略对应的增稳效果也不同，在本申请实施例中，可以用增稳强度来表征图像增稳策略的增稳效果。The various image stabilization methods provided above can be flexibly combined according to needs in actual use, so as to obtain various image stabilization strategies. Since different image stabilization strategies include different image stabilization methods, the corresponding stabilization effects of different image stabilization strategies are also different. In the embodiment of the present application, the stabilization strength can be used to characterize the enhancement of the image stabilization strategy. Stable effect.

为方便理解，可以举一个例子。比如有两种图像增稳策略，第一种图像增稳策略可以仅包含一种图像增稳手段，该图像增稳手段比如可以是通过云台对变焦相机进行增稳控制。而第二种图像增稳策略可以包含两种图像增稳手段，其中一种图像增稳手段与第一种图像增稳策略相同，也是通过云台对变焦相机进行增稳控制，另一种图像增稳手段可以是通过指定的电子防抖算法对图像进行处理。To facilitate understanding, an example can be given. For example, there are two image stabilization strategies. The first image stabilization strategy may include only one image stabilization method. The image stabilization method may be, for example, the stabilization control of a zoom camera through a pan/tilt. The second image stabilization strategy can include two image stabilization methods. One of the image stabilization methods is the same as the first image stabilization strategy, and the zoom camera is also controlled by the pan/tilt. The stabilization method can be to process the image through a designated electronic anti-shake algorithm.

在上述例子中，由于第二种图像增稳策略是在第一种图像增稳策略的基础上增加了一种图像增稳手段，因此，第二种图像增稳策略的增稳效果叠加了所增加的图像增稳手段的增稳效果，若通过增稳强度来表征增稳效果，不难理解，第二种图像增稳策略的增稳强度要高于第一种图像增稳策略的增稳强度。In the above example, since the second image stabilization strategy adds an image stabilization method to the first image stabilization strategy, the stabilization effect of the second image stabilization strategy is superimposed on all the results. The stabilization effect of the added image stabilization means, if the stabilization effect is represented by the stabilization strength, it is not difficult to understand that the stabilization strength of the second image stabilization strategy is higher than that of the first image stabilization strategy strength.

而当图像增稳策略之间不存在上述的图像增稳手段叠加的情况时，为确定不同图像增稳策略之间增稳强度的大小关系，也可以在实际使用该图像增稳策略后，通过专家或专家模型(神经网络模型)对该图像增稳策略的增稳效果进行评价，从而确定其所对应的增稳强度。When the image stabilization strategies do not overlap with the above-mentioned image stabilization methods, in order to determine the magnitude relationship between the stabilization strengths of different image stabilization strategies, the image stabilization strategy can also be used after actually using the image stabilization strategy. The expert or expert model (neural network model) evaluates the stabilization effect of the image stabilization strategy to determine the corresponding stabilization intensity.

本申请实施例提供的图像增稳方法中，变焦相机的变焦范围可以包括多个焦距段。通常而言，在描述变焦相机的变焦范围时会使用一个焦距段，而本申请实施例提供的方法中，将变焦相机的变焦范围划分为多个焦距段。比如变焦相机的变焦范围是1X到20X(即1倍变焦到20倍变焦)，在对该变焦范围进行划分后，该变焦范围可以包括1X到10X、10X到20X两个焦距段。In the image stabilization method provided by the embodiment of the present application, the zoom range of the zoom camera may include multiple focal lengths. Generally speaking, when describing the zoom range of a zoom camera, one focal length segment is used. In the method provided in the embodiment of the present application, the zoom range of the zoom camera is divided into multiple focal length segments. For example, the zoom range of a zoom camera is 1X to 20X (that is, 1X zoom to 20X zoom). After dividing the zoom range, the zoom range may include two focal lengths of 1X to 10X and 10X to 20X.

在上述的例子中，焦距段是通过变焦倍率来描述的，但在另一个例子中，也可以用焦距值来描述焦距段。比如，一个焦距段可以是18mm-200mm。虽然焦距段可以用两种方式来描述，但两种描述方式都是在描述变焦程度，且两种描述方式可以在数学上相互转化，因此，这两种描述方式在实质上并无区别。也就是说，本申请实施例虽然以变焦倍率的方式对焦距段进行描述，但以焦距值来描述焦距段的方式也应视为本申请实施例公开的范围。In the above example, the focal length is described by the zoom magnification, but in another example, the focal length can also be used to describe the focal length. For example, a focal length can be 18mm-200mm. Although the focal length can be described in two ways, both description methods are describing the degree of zoom, and the two description methods can be transformed into each other mathematically. Therefore, the two description methods are essentially the same. That is to say, although the embodiments of the present application describe the focal length in terms of zoom magnification, the method of describing the focal length in terms of focal length values should also be regarded as the scope disclosed in the embodiments of the present application.

需要说明的是，本申请实施例所提及的变焦相机可以包括光学变焦与数字变焦两种变焦方式，相应的，变焦相机的变焦范围所包含的焦距段中，可以有对应光学变焦的焦距段以及对应数字变焦的焦距段。比如，在一个具体的例子中，变焦相机可以包括1X到20X的光学变焦的焦距段与20X到200X的数字变焦的焦距段。It should be noted that the zoom camera mentioned in the embodiments of the present application may include two zoom modes: optical zoom and digital zoom. Correspondingly, among the focal lengths included in the zoom range of the zoom camera, there may be focal lengths corresponding to optical zoom. And the focal length corresponding to the digital zoom. For example, in a specific example, a zoom camera may include a focal length range of 1X to 20X optical zoom and a focal length range of 20X to 200X digital zoom.

对于不同的焦距段，可以使其对应不同的图像增稳策略，并且，焦距段所包含的变焦倍率越高，可以使其对应增稳强度越高的图像增稳策略。在具体应用时，可以参考上述提供的步骤S101与S102。在步骤S101中，可以是在变焦过程中或者变焦之后确定变焦相机当前的变焦倍率，当然，没有进行变焦操作也可以确定变焦相机当前的变焦倍率。在步骤S102中，需要确定变焦相机当前采用的图像增稳策略是否与当前的变焦倍率所在的焦距段对应的图像增稳策略相匹配，若是，可以保持当前的图像增稳策略，若不是，可以调整当前采用的图像增稳策略至当前的变焦倍率所在的焦距段对应的图像增稳策略。For different focal lengths, it can be made to correspond to different image stabilization strategies, and the higher the zoom magnification contained in the focal length, the higher the stabilization strength of the image stabilization strategy can be corresponded to. For specific applications, you can refer to the steps S101 and S102 provided above. In step S101, the current zoom magnification of the zoom camera may be determined during or after zooming. Of course, the current zoom magnification of the zoom camera may be determined without performing a zoom operation. In step S102, it is necessary to determine whether the image stabilization strategy currently adopted by the zoom camera matches the image stabilization strategy corresponding to the focal length range where the current zoom magnification is located. If so, the current image stabilization strategy can be maintained, if not, you can Adjust the currently adopted image stabilization strategy to the image stabilization strategy corresponding to the focal length range where the current zoom magnification is located.

下面提供一个可选的实施例，在该可选的实施例中，变焦相机的变焦范围可以包括三个焦距段，分别是第一焦距段、第二焦距段与第三焦距段。其中，第一焦距段所包含的变焦倍率最小，第三焦距段所包含的变焦倍率最大。An optional embodiment is provided below. In this optional embodiment, the zoom range of the zoom camera may include three focal lengths, namely a first focal length, a second focal length, and a third focal length. Among them, the zoom magnification included in the first focal length segment is the smallest, and the zoom magnification included in the third focal length segment is the largest.

基于前文所述的“变焦倍率越高，则采用增稳强度越高的图像增稳策略”的构思，焦距段对应的图像增稳策略的增稳强度可以有如下关系：第一焦距段＜第二焦距段＜第三焦距段。Based on the aforementioned concept of "the higher the zoom magnification, the higher the stabilization intensity of the image stabilization strategy", the stabilization strength of the image stabilization strategy corresponding to the focal length range can have the following relationship: the first focal length range <the first The second focal length section <the third focal length section.

在具体配置各个焦距段对应的图像增稳策略时，可以有多种实施方式，下面提供的仅为用于参考的例子。在该例子中，第一焦距段对应的图像增稳策略可以包括通过云台对变焦相机进行增稳控制；第二焦距段对应的图像增稳策略可以包括通过云台对变焦相机进行增稳控制，以及通过指定的电子防抖算法对图像进行处理；第三焦距段对应的图像增稳策略可以包括通过云台对变焦相机进行增稳控制，通过指定的电子防抖算法对图像进行处理，以及，根据变焦相机拍摄的相邻的两帧图像之间的差异对云台的转动量进行补偿。There may be multiple implementation manners when specifically configuring the image stabilization strategy corresponding to each focal length segment, and the following is only an example for reference. In this example, the image stabilization strategy corresponding to the first focal length range may include the stabilization control of the zoom camera through the pan/tilt; the image stabilization strategy corresponding to the second focal length range may include the stabilization control of the zoom camera through the pan/tilt , And processing the image through the specified electronic image stabilization algorithm; the image stabilization strategy corresponding to the third focal length range can include stabilization control of the zoom camera through the pan/tilt, image processing through the specified electronic image stabilization algorithm, and , According to the difference between two adjacent frames of images taken by the zoom camera to compensate the rotation of the pan/tilt.

在上述实施例中，第二焦距段对应的图像增稳策略包含了第一焦距段对应的图像增稳策略中的图像增稳手段，而第三焦距段对应的图像增稳策略包含了第二焦距段对应的图像增稳策略中的图像增稳手段，因此，三个焦距段对应的图像增稳策略在增稳强度上符合第一焦距段＜第二焦距段＜第三焦距段的关系。In the foregoing embodiment, the image stabilization strategy corresponding to the second focal length range includes the image stabilization method in the image stabilization strategy corresponding to the first focal length range, and the image stabilization strategy corresponding to the third focal length range includes the second focal length range. The image stabilization method in the image stabilization strategy corresponding to the focal length segment, therefore, the image stabilization strategy corresponding to the three focal length segments conforms to the relationship of the first focal length segment<the second focal length segment<the third focal length segment in terms of stabilization strength.

在第二焦距段对应的图像增稳策略中，包括通过指定的电子防抖算法对图像进行处理的图像增稳手段，即包括电子防抖的图像增稳手段。关于电子防抖，在具体实施时也有多种可选的电子防抖算法。比如，在一种实施方式中，可以先获取用最大视场角拍摄得到的原始图像，通过惯性测量单元IMU测量出变焦相机当前的姿态信息，根据测量出的变焦相机当前的姿态信息，在原始图像中裁剪出目标区域对应的目标图像，并根据标定参数对该目标图像进行修正，从而可以得到消除了畸变的目标图像。The image stabilization strategy corresponding to the second focal length range includes image stabilization means that process the image through a specified electronic anti-shake algorithm, that is, an image stabilization means including electronic anti-shake. Regarding electronic anti-shake, there are also a variety of optional electronic anti-shake algorithms in specific implementation. For example, in one embodiment, the original image taken with the maximum angle of view may be acquired first, and the current posture information of the zoom camera can be measured through the inertial measurement unit IMU. According to the measured current posture information of the zoom camera, the original image The target image corresponding to the target area is cut out from the image, and the target image is corrected according to the calibration parameters, so that the target image with the distortion eliminated can be obtained.

又比如，在另一种实施方式中，变焦相机可以通过云台搭载于无人机上，无人机可以配置有高精度的惯性测量单元IMU，通过该IMU可以采集到无人机的当前姿态信息，可以将该当前姿态信息与目标姿态信息进行差值计算(目标姿态信息是算法期望的无人机的姿态信息，也可以是用户输入的姿态信息)，根据计算出的差值可以分别确定对应yaw、pitch、roll三个方向的EIS修正量，并根据该三个方向的EIS修正量对变焦相机采集的图像进行修正，得到消除了畸变的目标图像。For another example, in another embodiment, the zoom camera can be mounted on the drone through the pan/tilt, and the drone can be equipped with a high-precision inertial measurement unit IMU, through which the current attitude information of the drone can be collected , You can calculate the difference between the current posture information and the target posture information (the target posture information is the posture information of the drone expected by the algorithm, or the posture information input by the user), and the corresponding values can be determined respectively according to the calculated difference. EIS corrections in three directions of yaw, pitch, and roll, and the image collected by the zoom camera is corrected according to the EIS corrections in the three directions to obtain a target image with no distortion.

在第三焦距段对应的图像增稳策略中，包括根据变焦相机拍摄的相邻的两帧图像之间的差异对云台的转动量进行补偿的图像增稳手段。该图像增稳手段中，需要注意的是，在通过变焦相机进行视频拍摄时，所拍摄的相邻的两帧图像可以是变焦相机处于静止状态拍摄的图像。因为，在变焦相机处于静止状态时，所拍摄的相邻的两帧图像之间的差异可以确定是来源于相机本身的抖动，但若所拍摄的相邻的两帧图像是该变焦相机处于运动状态下拍摄的，则相邻的两帧图像之间的差异至少来源于相机本身的运动与相机本身的抖动，该差异无法直接用于相机防抖上的运算(但在一种实施中，可以根据相机本身的运动进行修正后使用)。所以，对于搭载在无人机上的变焦相机，变焦相机所拍摄的相邻的两帧图像可以是在确定无人机处于悬停状态时拍摄的。具体实现时，变焦相机可以获取无人机的姿态信息与速度信息从而确定无人机是否处于悬停状态。The image stabilization strategy corresponding to the third focal length segment includes an image stabilization method that compensates for the amount of rotation of the pan/tilt according to the difference between two adjacent frames of images captured by the zoom camera. In this image stabilization method, it should be noted that when video shooting is performed by a zoom camera, the two adjacent frames of images captured may be images captured by the zoom camera in a static state. Because, when the zoom camera is in a static state, the difference between the two adjacent frames that are taken can be determined to be from the camera's own shaking, but if the two adjacent frames are taken, the zoom camera is in motion. The difference between the two adjacent frames is at least due to the camera's own motion and the camera's shaking. This difference cannot be directly used in the operation of camera anti-shake (but in one implementation, you can Use it after correcting according to the movement of the camera itself). Therefore, for a zoom camera mounted on a drone, the two adjacent frames of images captured by the zoom camera may be taken when it is determined that the drone is in a hovering state. In specific implementation, the zoom camera can obtain the attitude information and speed information of the drone to determine whether the drone is in a hovering state.

在根据变焦相机拍摄的相邻的两帧图像之间的差异对云台的转动量进行补偿时，具体的，可以根据该相邻的两帧图像之间的差异，计算出无人机的IMU的漂移量，并根据计算出的该漂移量对云台的转动量进行补偿。需要说明的是，IMU由于本身器件特性的原因不可避免的会发生漂移，而IMU的漂移量可以一定程度上反映IMU的测量误差。由于云台的转动量是基于IMU测量的姿态信息确定的，当IMU测量的姿态信息存在误差时，计算出的云台的转动量也会不准确。因此，可以通过该漂移量对云台的转动量进行补偿，具体的，可以根据该漂移量对IMU测量得到的姿态信息进行修正，进而通过修正后的姿态信息确定云台的新的转动量，根据该新的转动量可以对云台的转动量进行补偿或调整。When compensating for the rotation of the pan/tilt according to the difference between two adjacent frames of images taken by the zoom camera, specifically, the IMU of the drone can be calculated based on the difference between the two adjacent frames of images According to the calculated drift amount, the rotation amount of the pan/tilt is compensated. It should be noted that the IMU will inevitably drift due to its device characteristics, and the drift of the IMU can reflect the measurement error of the IMU to a certain extent. Since the rotation amount of the pan/tilt head is determined based on the attitude information measured by the IMU, when there is an error in the attitude information measured by the IMU, the calculated rotation amount of the pan/tilt head will also be inaccurate. Therefore, the amount of rotation of the pan/tilt head can be compensated by the amount of drift. Specifically, the attitude information measured by the IMU can be corrected according to the amount of drift, and then the new amount of rotation of the pan/tilt head can be determined by the corrected attitude information. According to the new rotation amount, the rotation amount of the pan-tilt can be compensated or adjusted.

在计算IMU的漂移量时也有多种可选的实施方式。在一种实施方式中，可以根据相邻的两帧图像之间的光流信息计算出IMU的漂移量。当然还有很多其他可选的实施方式，比如还可以通过对相邻的两帧图像进行特征点匹配来计算IMU的漂移量。There are also many alternative implementations when calculating the drift of the IMU. In an embodiment, the drift amount of the IMU can be calculated based on the optical flow information between two adjacent frames of images. Of course, there are many other optional implementation manners. For example, it is also possible to calculate the drift of the IMU by performing feature point matching on two adjacent frames of images.

上述的图像增稳手段中，计算出的漂移量可以用于对云台的转动量进行补偿，从而使云台对变焦相机的增稳控制更加精确。而在一种实施方式中，计算出的漂移量还可以应用于电子防抖。具体的，在通过电子防抖算法对图像进行处理时，可以在获取用最大视场角拍摄出的原始图像后，根据该计算出的IMU的漂移量确定原始图像中的待裁剪区域，并输出裁剪出的该待裁剪区域对应的图像。In the above image stabilization means, the calculated drift amount can be used to compensate the rotation of the pan/tilt, so that the pan/tilt stabilizes the zoom camera more accurately. In an embodiment, the calculated drift amount can also be applied to electronic anti-shake. Specifically, when the image is processed by the electronic image stabilization algorithm, after acquiring the original image taken with the maximum angle of view, the calculated IMU drift is used to determine the area to be cropped in the original image, and output The cropped image corresponding to the area to be cropped.

以上是对本申请实施例提供的图像增稳方法的详细说明。本申请实施例提供的图像增稳方法，可以在变焦相机的变焦倍率处于不同的焦距段时采用不同的图像增稳策略，其中，每个焦距段对应的图像增稳策略的增稳强度与该焦距段所包含的变焦倍率是成正比的。因此，随着变焦倍率的增大，虽然相机的抖动也会被放大，但通过采用更高增稳强度的图像增稳策略，可以更有力的抑制相机的抖动，使得高倍率下拍摄得到的图像也不会有明显的果冻效应。The above is a detailed description of the image stabilization method provided by the embodiments of the present application. The image stabilization method provided by the embodiments of the present application can adopt different image stabilization strategies when the zoom magnification of the zoom camera is in different focal lengths. Among them, the stabilization intensity of the image stabilization strategy corresponding to each focal length is equal to the The zoom magnification contained in the focal length is directly proportional. Therefore, with the increase of the zoom magnification, although the camera shake will be enlarged, the image stabilization strategy with higher stabilization intensity can be used to suppress the camera shake more effectively, so that the images taken at high magnification are not There will be a noticeable jelly effect.

下面请参见图2，图2是本申请实施例提供的一种变焦相机的结构示意图。该变焦相机包括：机身210、与所述机身连接的变焦镜头220、在所述机身内的处理器211及存储有计算机程序的存储器212；Please refer to FIG. 2 below, which is a schematic structural diagram of a zoom camera provided by an embodiment of the present application. The zoom camera includes: a body 210, a zoom lens 220 connected to the body, a processor 211 in the body, and a memory 212 storing a computer program;

所述变焦镜头220的变焦范围包括多个焦距段；The zoom range of the zoom lens 220 includes multiple focal lengths;

所述处理器211在执行所述计算机程序时实现以下步骤：The processor 211 implements the following steps when executing the computer program:

可选的，所述变焦相机的变焦范围包括第一焦距段、第二焦距段与第三焦距段，所述第一焦距段所包含的变焦倍率最小，所述第三焦距段所包含的变焦倍率最大。Optionally, the zoom range of the zoom camera includes a first focal length, a second focal length, and a third focal length, the first focal length includes the smallest zoom magnification, and the third focal length includes the zoom Maximum magnification.

可选的，所述变焦相机与云台连接，所述第一焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制。Optionally, the zoom camera is connected to a pan-tilt, and the image stabilization strategy corresponding to the first focal length segment includes: performing stabilization control of the zoom camera through the pan-tilt.

可选的，所述第二焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制，以及通过指定的电子防抖算法对图像进行处理。Optionally, the image stabilization strategy corresponding to the second focal length range includes: stabilizing the zoom camera through the pan/tilt, and processing the image through a designated electronic image stabilization algorithm.

可选的，所述变焦相机通过所述云台搭载于无人机上，所述处理器在执行通过指定的电子防抖算法对图像进行处理的步骤时，具体用于根据目标姿态信息与所述无人机的惯性测量单元IMU采集的当前姿态信息的差值，对所述变焦相机采集的图像进行修正。Optionally, the zoom camera is mounted on the drone through the pan/tilt, and when the processor executes the step of processing the image through a specified electronic anti-shake algorithm, it is specifically configured to communicate with the target posture information according to the target posture information. The difference of the current attitude information collected by the inertial measurement unit IMU of the drone corrects the image collected by the zoom camera.

可选的，所述第三焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制，通过所述电子防抖算法对图像进行处理，以及，根据所述变焦相机拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿。Optionally, the image stabilization strategy corresponding to the third focal length range includes: stabilizing the zoom camera through the pan/tilt, processing the image through the electronic image stabilization algorithm, and, according to the The difference between two adjacent frames of images captured by the zoom camera compensates for the amount of rotation of the pan/tilt.

可选的，所述变焦相机通过所述云台搭载于无人机上，所述相邻的两帧图像是所述无人机处于悬停状态时拍摄的。Optionally, the zoom camera is mounted on the drone through the pan/tilt, and the two adjacent frames of images are taken when the drone is in a hovering state.

可选的，所述处理器在执行根据所述变焦相机拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿的步骤时，具体用于根据所述相邻的两帧图像之间的差异，计算所述无人机的IMU的漂移量，根据计算出的所述漂移量对所述云台的转动量进行补偿。Optionally, when the processor executes the step of compensating for the rotation amount of the pan/tilt head according to the difference between two adjacent frames of images captured by the zoom camera, it is specifically configured to perform the step of compensating for the amount of rotation of the pan/tilt head according to the adjacent frames. The difference between the two frames of images is calculated, and the amount of drift of the IMU of the drone is calculated, and the amount of rotation of the pan/tilt head is compensated according to the calculated amount of drift.

可选的，所述漂移量是根据所述相邻的两帧图像之间的光流信息计算得到的。Optionally, the drift amount is calculated based on optical flow information between the two adjacent frames of images.

可选的，所述漂移量还用于在通过所述电子防抖算法对图像进行处理时确定所述图像的待裁剪区域。Optionally, the drift amount is also used to determine the area to be cropped of the image when the image is processed by the electronic image stabilization algorithm.

可选的，所述多个焦距段包括光学变焦的焦距段与数字变焦的焦距段。Optionally, the multiple focal lengths include a focal length of optical zoom and a focal length of digital zoom.

本申请实施例提供的变焦相机，可以在变焦相机的变焦倍率处于不同的焦距段时采用不同的图像增稳策略，其中，每个焦距段对应的图像增稳策略的增稳强度与该焦距段所包含的变焦倍率是成正比的。因此，随着变焦倍率的增大，虽然相机的抖动也会被放大，但通过采用更高增稳强度的图像增稳策略，可以更有力的抑制相机的抖动，使得高倍率下拍摄得到的图像也不会有明显的果冻效应。The zoom camera provided by the embodiment of the present application can adopt different image stabilization strategies when the zoom magnification of the zoom camera is in different focal lengths. Among them, the stabilization intensity of the image stabilization strategy corresponding to each focal length is proportional to the focal length. The included zoom magnification is directly proportional. Therefore, with the increase of the zoom magnification, although the camera shake will be enlarged, the image stabilization strategy with higher stabilization intensity can be used to suppress the camera shake more effectively, so that the images taken at high magnification are not There will be a noticeable jelly effect.

上述的各种实施方式下的变焦相机，其具体的实现方式可以参考本申请实施例提供的图像增稳方法中的相关说明，在此不再赘述。For the specific implementation of the zoom camera in the various embodiments described above, reference may be made to the relevant description in the image stabilization method provided in the embodiment of the present application, and details are not described herein again.

下面请参见图3，图3是本申请实施例提供的一种云台相机的结构示意图。该云台相机，包括：云台310以及与所述云台连接的可变焦摄像头320；所述可变焦摄像头的变焦范围包括多个焦距段；Please refer to FIG. 3 below. FIG. 3 is a schematic structural diagram of a pan-tilt camera according to an embodiment of the present application. The pan-tilt camera includes: a pan-tilt 310 and a zoom camera 320 connected to the pan-tilt; the zoom range of the zoomable camera includes multiple focal lengths;

可选的，所述可变焦摄像头的变焦范围包括第一焦距段、第二焦距段与第三焦距段，所述第一焦距段所包含的变焦倍率最小，所述第三焦距段所包含的变焦倍率最大。Optionally, the zoom range of the zoomable camera includes a first focal length, a second focal length, and a third focal length. The first focal length includes the smallest zoom magnification, and the third focal length includes The zoom magnification is the largest.

可选的，所述第一焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制。Optionally, the image stabilization strategy corresponding to the first focal length range includes: performing stabilization control of the zoom camera through the pan/tilt.

可选的，所述第二焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制，以及通过指定的电子防抖算法对图像进行处理。Optionally, the image stabilization strategy corresponding to the second focal length range includes: stabilizing the zoom camera through the pan/tilt, and processing the image through a designated electronic image stabilization algorithm.

可选的，所述云台相机搭载于无人机上，所述处理器在执行通过指定的电子防抖算法对图像进行处理的步骤时，具体用于根据目标姿态信息与所述无人机的惯性测量单元IMU采集的当前姿态信息的差值，对所述变焦相机采集的图像进行修正。Optionally, the pan/tilt camera is mounted on the drone, and the processor is specifically used to compare the target attitude information with the drone's The difference of the current posture information collected by the inertial measurement unit IMU corrects the image collected by the zoom camera.

可选的，所述第三焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制，以及通过所述电子防抖算法对图像进行处理，以及，根据所述可变焦摄像头拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿。Optionally, the image stabilization strategy corresponding to the third focal length range includes: stabilizing the zoom camera through the pan/tilt, and processing the image through the electronic image stabilization algorithm, and, according to The difference between two adjacent frames of images captured by the zoom camera compensates for the amount of rotation of the pan/tilt.

可选的，所述云台相机搭载于无人机上，所述相邻的两帧图像是所述无人机处于悬停状态时拍摄的。Optionally, the pan-tilt camera is mounted on a drone, and the two adjacent frames of images are taken when the drone is in a hovering state.

可选的，所述处理器在执行根据所述可变焦摄像头拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿的步骤时，具体用于根据所述相邻的两帧图像之间的差异，计算所述无人机的IMU的漂移量，根据计算出的所述漂移量对所述云台的转动量进行补偿。Optionally, when the processor executes the step of compensating the rotation amount of the pan/tilt head according to the difference between two adjacent frames of images captured by the zoom camera, it is specifically configured to perform the step of compensating for the amount of rotation of the pan/tilt head according to the adjacent The difference between the two frames of images is calculated, the amount of drift of the IMU of the drone is calculated, and the amount of rotation of the pan/tilt is compensated according to the calculated amount of drift.

本申请实施例提供的云台相机，可以在可变焦摄像头的变焦倍率处于不同的焦距段时采用不同的图像增稳策略，其中，每个焦距段对应的图像增稳策略的增稳强度与该焦距段所包含的变焦倍率是成正比的。因此，随着变焦倍率的增大，虽然相机的抖动也会被放大，但通过采用更高增稳强度的图像增稳策略，可以更有力的抑制相机的抖动，使得高倍率下拍摄得到的图像也不会有明显的果冻效应。The pan-tilt camera provided by the embodiment of the present application can adopt different image stabilization strategies when the zoom magnification of the zoomable camera is in different focal lengths. Among them, the stabilization intensity of the image stabilization strategy corresponding to each focal length is equal to the The zoom magnification contained in the focal length is directly proportional. Therefore, with the increase of the zoom magnification, although the camera shake will be enlarged, the image stabilization strategy with higher stabilization intensity can be used to suppress the camera shake more effectively, so that the images taken at high magnification are not There will be a noticeable jelly effect.

上述的各种实施方式下的云台相机，其具体的实现方式可以参考本申请实施例提供的图像增稳方法中的相关说明，在此不再赘述。For the specific implementation of the pan-tilt camera in the various embodiments described above, reference may be made to the related description in the image stabilization method provided in the embodiment of the present application, and details are not described herein again.

下面请参见图4，图4是本申请实施例提供的一种无人机的结构示意图。该无人机包括：机体410、与所述机体连接的云台420、与所述云台连接的可变焦摄像头430；Please refer to FIG. 4 below. FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application. The drone includes: a body 410, a pan/tilt 420 connected to the body, and a zoom camera 430 connected to the pan/tilt;

将所述无人机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略；其中，每个所述焦距段对应的图像增稳策略不同，所述焦距段所包含的变焦倍率与所述焦距段对应的图像增稳策略的增稳强度正相关。The image stabilization strategy of the UAV is adjusted to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located; wherein, the image stabilization strategy corresponding to each focal length segment is different, and the focal length segment The included zoom magnification is positively correlated with the stabilization strength of the image stabilization strategy corresponding to the focal length range.

可选的，所述处理器在执行通过指定的电子防抖算法对图像进行处理的步骤时，具体用于根据目标姿态信息与所述无人机的惯性测量单元IMU采集的当前姿态信息的差值，对所述变焦相机采集的图像进行修正。Optionally, when the processor executes the step of processing the image through the specified electronic anti-shake algorithm, it is specifically used to determine the difference between the target attitude information and the current attitude information collected by the UAV's inertial measurement unit IMU. Value to correct the image collected by the zoom camera.

可选的，所述相邻的两帧图像是所述无人机处于悬停状态时拍摄的。Optionally, the two adjacent frames of images are taken when the drone is in a hovering state.

本申请实施例提供的无人机，可以在可变焦摄像头的变焦倍率处于不同的焦距段时采用不同的图像增稳策略，其中，每个焦距段对应的图像增稳策略的增稳强度与该焦距段所包含的变焦倍率是成正比的。因此，随着变焦倍率的增大，虽然相机的抖动也会被放大，但通过采用更高增稳强度的图像增稳策略，可以更有力的抑制相机的抖动，使得高倍率下拍摄得到的图像也不会有明显的果冻效应。The unmanned aerial vehicle provided by the embodiments of the present application can adopt different image stabilization strategies when the zoom magnification of the zoomable camera is in different focal lengths. Among them, the stabilization intensity of the image stabilization strategy corresponding to each focal length is proportional to the The zoom magnification contained in the focal length is directly proportional. Therefore, with the increase of the zoom magnification, although the camera shake will be enlarged, the image stabilization strategy with higher stabilization intensity can be used to suppress the camera shake more effectively, so that the images taken at high magnification are not There will be a noticeable jelly effect.

上述的各种实施方式下的无人机，其具体的实现方式可以参考本申请实施例提供的图像增稳方法中的相关说明，在此不再赘述。For the drones in the various embodiments described above, for specific implementations, reference may be made to the relevant descriptions in the image stabilization method provided in the embodiments of the present application, which will not be repeated here.

本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现上述的任一种实施方式下的图像增稳方法。The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the image stabilization in any of the above-mentioned implementation modes is realized. method.

以上实施例中提供的技术特征，只要不存在冲突或矛盾，本领域技术人员可以根据实际情况对各个技术特征进行组合，从而构成各种不同的实施例。而本申请文件限于篇幅，未对各种不同的实施例展开说明，但可以理解的是，各种不同的实施例也属于本申请实施例公开的范围。As long as there is no conflict or contradiction between the technical features provided in the above embodiments, those skilled in the art can combine the various technical features according to actual conditions to form various different embodiments. However, the document of this application is limited in length, and various embodiments are not described, but it is understandable that various embodiments also belong to the scope of the disclosure of the embodiments of this application.

本申请实施例可采用在一个或多个其中包含有程序代码的存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。计算机可用存储介质包括永久性和非永久性、可移动和非可移动媒体，可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括但不限于：相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。The embodiments of the present application may adopt the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes. Computer usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.

需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "including", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

以上对本申请实施例所提供的方法各种电子设备进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。The methods and various electronic devices provided in the embodiments of the application are described in detail above. Specific examples are used in this article to illustrate the principles and implementation of the application. The descriptions of the above embodiments are only used to help understand the methods of the application. And its core ideas; at the same time, for those of ordinary skill in the art, according to the ideas of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as a reference limits.

Claims

一种图像增稳方法，其特征在于，应用于变焦相机，所述变焦相机的变焦范围包括多个焦距段，所述方法包括：An image stabilization method, characterized in that it is applied to a zoom camera, the zoom range of the zoom camera includes multiple focal lengths, and the method includes:

确定所述变焦相机当前的变焦倍率；Determine the current zoom magnification of the zoom camera;

将所述变焦相机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略；其中，每个所述焦距段对应的图像增稳策略不同，所述焦距段所包含的变焦倍率与所述焦距段对应的图像增稳策略的增稳强度正相关。The image stabilization strategy of the zoom camera is adjusted to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located; wherein, the image stabilization strategy corresponding to each focal length segment is different, and the focal length varies The included zoom magnification is positively correlated with the stabilization strength of the image stabilization strategy corresponding to the focal length.
根据权利要求1所述的图像增稳方法，其特征在于，所述变焦相机的变焦范围包括第一焦距段、第二焦距段与第三焦距段，所述第一焦距段所包含的变焦倍率最小，所述第三焦距段所包含的变焦倍率最大。The image stabilization method of claim 1, wherein the zoom range of the zoom camera includes a first focal length, a second focal length, and a third focal length, and the zoom magnification included in the first focal length is If it is the smallest, the zoom magnification included in the third focal length segment is the largest.
根据权利要求2所述的图像增稳方法，其特征在于，所述变焦相机与云台连接，所述第一焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制。The image stabilization method according to claim 2, wherein the zoom camera is connected to a pan/tilt, and the image stabilization strategy corresponding to the first focal length segment comprises: performing the zoom camera on the zoom camera through the pan/tilt. Stability control.
根据权利要求3所述的图像增稳方法，其特征在于，所述第二焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制，以及通过指定的电子防抖算法对图像进行处理。The image stabilization method according to claim 3, wherein the image stabilization strategy corresponding to the second focal length includes: stabilization control of the zoom camera through the pan/tilt, and through a designated electronic The anti-shake algorithm processes the image.
根据权利要求4所述的图像增稳方法，其特征在于，所述变焦相机通过所述云台搭载于无人机上，所述通过指定的电子防抖算法对图像进行处理，包括：The image stabilization method according to claim 4, wherein the zoom camera is mounted on the UAV via the pan/tilt, and the image is processed by a designated electronic anti-shake algorithm, comprising:

根据目标姿态信息与所述无人机的惯性测量单元IMU采集的当前姿态信息的差值，对所述变焦相机采集的图像进行修正。According to the difference between the target posture information and the current posture information collected by the inertial measurement unit IMU of the UAV, the image collected by the zoom camera is corrected.
根据权利要求4所述的图像增稳方法，其特征在于，所述第三焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制，通过所述电子防抖算法对图像进行处理，以及，根据所述变焦相机拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿。The image stabilization method according to claim 4, wherein the image stabilization strategy corresponding to the third focal length segment comprises: stabilizing the zoom camera through the pan/tilt, and controlling the zoom camera through the electronic defense The dithering algorithm processes the image, and compensates the rotation amount of the pan/tilt head according to the difference between two adjacent frames of images captured by the zoom camera.
根据权利要求6所述的图像增稳方法，其特征在于，所述变焦相机通过所述云台搭载于无人机上，所述相邻的两帧图像是所述无人机处于悬停状态时拍摄的。The image stabilization method according to claim 6, wherein the zoom camera is mounted on the drone through the pan/tilt, and the two adjacent frames of images are when the drone is in a hovering state. taking pictures.
根据权利要求7所述的图像增稳方法，其特征在于，所述根据所述变焦相机拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿，包括：8. The image stabilization method according to claim 7, wherein the compensation for the rotation of the pan/tilt head according to the difference between two adjacent frames of images captured by the zoom camera comprises:

根据所述相邻的两帧图像之间的差异，计算所述无人机的IMU的漂移量，根据计算出的所述漂移量对所述云台的转动量进行补偿。According to the difference between the two adjacent frames of images, the drift amount of the IMU of the UAV is calculated, and the rotation amount of the pan/tilt head is compensated according to the calculated drift amount.
根据权利要求8所述的图像增稳方法，其特征在于，所述漂移量是根据所述相邻的两帧图像之间的光流信息计算得到的。The image stabilization method according to claim 8, wherein the drift amount is calculated based on optical flow information between the two adjacent frames of images.
根据权利要求8所述的图像增稳方法，其特征在于，所述漂移量还用于在通过所述电子防抖算法对图像进行处理时确定所述图像的待裁剪区域。8. The image stabilization method according to claim 8, wherein the drift amount is also used to determine the region to be cropped of the image when the image is processed by the electronic image stabilization algorithm.
根据权利要求1所述的图像增稳方法，其特征在于，所述多个焦距段包括光学变焦的焦距段与数字变焦的焦距段。The image stabilization method according to claim 1, wherein the multiple focal lengths include a focal length of optical zoom and a focal length of digital zoom.
一种变焦相机，其特征在于，包括：机身、与所述机身连接的变焦镜头、在所述机身内的处理器及存储有计算机程序的存储器；A zoom camera, characterized by comprising: a body, a zoom lens connected to the body, a processor in the body, and a memory storing a computer program;

所述变焦镜头的变焦范围包括多个焦距段；The zoom range of the zoom lens includes multiple focal lengths;

所述处理器在执行所述计算机程序时实现以下步骤：The processor implements the following steps when executing the computer program:

确定所述变焦相机当前的变焦倍率；Determine the current zoom magnification of the zoom camera;

将所述变焦相机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略；其中，每个所述焦距段对应的图像增稳策略不同，所述焦距段所包含的变焦倍率与所述焦距段对应的图像增稳策略的增稳强度正相关。The image stabilization strategy of the zoom camera is adjusted to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located; wherein, the image stabilization strategy corresponding to each focal length segment is different, and the focal length varies The included zoom magnification is positively correlated with the stabilization strength of the image stabilization strategy corresponding to the focal length.
根据权利要求12所述的变焦相机，其特征在于，所述变焦相机的变焦范围包括第一焦距段、第二焦距段与第三焦距段，所述第一焦距段所包含的变焦倍率最小，所述第三焦距段所包含的变焦倍率最大。The zoom camera of claim 12, wherein the zoom range of the zoom camera includes a first focal length, a second focal length, and a third focal length, and the first focal length includes the smallest zoom magnification, The zoom magnification included in the third focal length segment is the largest.
根据权利要求13所述的变焦相机，其特征在于，所述变焦相机与云台连接，所述第一焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制。The zoom camera of claim 13, wherein the zoom camera is connected to a pan/tilt, and the image stabilization strategy corresponding to the first focal length segment comprises: stabilizing the zoom camera through the pan/tilt control.
根据权利要求14所述的变焦相机，其特征在于，所述第二焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制，以及通过指定的电子防抖算法对图像进行处理。The zoom camera according to claim 14, wherein the image stabilization strategy corresponding to the second focal length segment comprises: stabilizing the zoom camera through the pan/tilt and controlling the stabilization of the zoom camera through a designated electronic image stabilization The algorithm processes the image.
根据权利要求15所述的变焦相机，其特征在于，所述变焦相机通过所述云台搭载于无人机上，所述处理器在执行通过指定的电子防抖算法对图像进行处理的步骤时，具体用于根据目标姿态信息与所述无人机的惯性测量单元IMU采集的当前姿态信息的差值，对所述变焦相机采集的图像进行修正。The zoom camera according to claim 15, wherein the zoom camera is mounted on the drone through the pan/tilt, and when the processor executes the step of processing the image through a specified electronic image stabilization algorithm, Specifically, it is used to correct the image collected by the zoom camera according to the difference between the target posture information and the current posture information collected by the inertial measurement unit IMU of the UAV.
根据权利要求15所述的变焦相机，其特征在于，所述第三焦距段对应的图像增稳策略包括：通过所述云台对所述变焦相机进行增稳控制，通过所述电子防抖算法对图像进行处理，以及，根据所述变焦相机拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿。The zoom camera according to claim 15, wherein the image stabilization strategy corresponding to the third focal length segment comprises: performing stabilization control of the zoom camera through the pan/tilt, and using the electronic image stabilization algorithm The image is processed, and the rotation amount of the pan/tilt head is compensated according to the difference between two adjacent frames of images captured by the zoom camera.
根据权利要求17所述的变焦相机，其特征在于，所述变焦相机通过所述云台搭载于无人机上，所述相邻的两帧图像是所述无人机处于悬停状态时拍摄的。The zoom camera according to claim 17, wherein the zoom camera is mounted on a drone through the pan/tilt, and the two adjacent frames of images are taken when the drone is in a hovering state .
根据权利要求18所述的变焦相机，其特征在于，所述处理器在执行根据所述变焦相机拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿的步骤时，具体用于根据所述相邻的两帧图像之间的差异，计算所述无人机的IMU的漂移量，根据计算出的所述漂移量对所述云台的转动量进行补偿。The zoom camera according to claim 18, wherein when the processor executes the step of compensating the rotation of the pan/tilt head according to the difference between two adjacent frames of images captured by the zoom camera , Specifically used to calculate the drift amount of the IMU of the UAV according to the difference between the two adjacent frames of images, and compensate the rotation amount of the pan/tilt according to the calculated drift amount.
根据权利要求19所述的变焦相机，其特征在于，所述漂移量是根据所述相邻的两帧图像之间的光流信息计算得到的。The zoom camera according to claim 19, wherein the drift amount is calculated based on optical flow information between the two adjacent frames of images.
根据权利要求19所述的变焦相机，其特征在于，所述漂移量还用于在通过所述电子防抖算法对图像进行处理时确定所述图像的待裁剪区域。The zoom camera according to claim 19, wherein the drift amount is also used to determine the area to be cropped of the image when the image is processed by the electronic image stabilization algorithm.
根据权利要求12所述的变焦相机，其特征在于，所述多个焦距段包括光学变焦的焦距段与数字变焦的焦距段。The zoom camera of claim 12, wherein the multiple focal lengths include a focal length of optical zoom and a focal length of digital zoom.
一种云台相机，其特征在于，包括：云台以及与所述云台连接的可变焦摄像头；所述可变焦摄像头的变焦范围包括多个焦距段；A pan-tilt camera, characterized by comprising: a pan-tilt and a zoomable camera connected to the pan-tilt; the zoom range of the zoomable camera includes a plurality of focal lengths;

所述云台相机还包括：处理器及存储有计算机程序的存储器；The pan-tilt camera further includes: a processor and a memory storing a computer program;

所述处理器在执行所述计算机程序时实现以下步骤：The processor implements the following steps when executing the computer program:

确定所述可变焦摄像头当前的变焦倍率；Determining the current zoom magnification of the zoomable camera;

将所述云台相机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略；其中，每个所述焦距段对应的图像增稳策略不同，所述焦距段所包含的变焦倍率与所述焦距段对应的图像增稳策略的增稳强度正相关。The image stabilization strategy of the pan/tilt camera is adjusted to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located; wherein, the image stabilization strategy corresponding to each focal length segment is different, and the focal length segment The included zoom magnification is positively correlated with the stabilization strength of the image stabilization strategy corresponding to the focal length range.
根据权利要求23所述的云台相机，其特征在于，所述可变焦摄像头的变焦范围包括第一焦距段、第二焦距段与第三焦距段，所述第一焦距段所包含的变焦倍率最小，所述第三焦距段所包含的变焦倍率最大。The pan/tilt camera of claim 23, wherein the zoom range of the zoomable camera includes a first focal length, a second focal length, and a third focal length, and the zoom magnification included in the first focal length is If it is the smallest, the zoom magnification included in the third focal length segment is the largest.
根据权利要求24所述的云台相机，其特征在于，所述第一焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制。The pan-tilt camera according to claim 24, wherein the image stabilization strategy corresponding to the first focal length segment comprises: performing stabilization control of the zoomable camera through the pan-tilt.
根据权利要求25所述的云台相机，其特征在于，所述第二焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制，以及通过指定的电子防抖算法对图像进行处理。The pan/tilt camera according to claim 25, wherein the image stabilization strategy corresponding to the second focal length segment comprises: performing stabilization control of the zoom camera through the pan/tilt, and through a designated electronic The anti-shake algorithm processes the image.
根据权利要求26所述的云台相机，其特征在于，所述云台相机搭载于无人机上，所述处理器在执行通过指定的电子防抖算法对图像进行处理的步骤时，具体用于根据目标姿态信息与所述无人机的惯性测量单元IMU采集的当前姿态信息的差值，对所述变焦相机采集的图像进行修正。The pan/tilt camera of claim 26, wherein the pan/tilt camera is mounted on an unmanned aerial vehicle, and the processor is specifically used for performing the step of processing the image through a specified electronic anti-shake algorithm. The image collected by the zoom camera is corrected according to the difference between the target posture information and the current posture information collected by the inertial measurement unit IMU of the UAV.
根据权利要求26所述的云台相机，其特征在于，所述第三焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制，以及通过所述电子防抖算法对图像进行处理，以及，根据所述可变焦摄像头拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿。The pan/tilt camera according to claim 26, wherein the image stabilization strategy corresponding to the third focal length segment comprises: performing stabilization control of the zoom camera through the pan/tilt, and through the electronic The image stabilization algorithm processes the image, and compensates for the rotation of the pan/tilt head according to the difference between two adjacent frames of images captured by the zoomable camera.
根据权利要求28所述的云台相机，其特征在于，所述云台相机搭载于无人机上，所述相邻的两帧图像是所述无人机处于悬停状态时拍摄的。The pan-tilt camera of claim 28, wherein the pan-tilt camera is mounted on a drone, and the two adjacent frames of images are taken when the drone is in a hovering state.
根据权利要求29所述的云台相机，其特征在于，所述处理器在执行根据所述可变焦摄像头拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿的步骤时，具体用于根据所述相邻的两帧图像之间的差异，计算所述无人机的IMU的漂移量，根据计算出的所述漂移量对所述云台的转动量进行补偿。The pan/tilt camera according to claim 29, wherein the processor performs compensation for the amount of rotation of the pan/tilt based on the difference between two adjacent frames of images captured by the zoom camera. In the step, it is specifically used to calculate the drift amount of the IMU of the UAV according to the difference between the two adjacent frames of images, and compensate the rotation amount of the pan/tilt according to the calculated drift amount .
根据权利要求30所述的云台相机，其特征在于，所述漂移量是根据所述相邻的两帧图像之间的光流信息计算得到的。The pan-tilt camera of claim 30, wherein the drift amount is calculated based on optical flow information between the two adjacent frames of images.
根据权利要求30所述的云台相机，其特征在于，所述漂移量还用于在通过所述电子防抖算法对图像进行处理时确定所述图像的待裁剪区域。The pan/tilt camera of claim 30, wherein the drift amount is also used to determine the region to be cropped of the image when the image is processed by the electronic image stabilization algorithm.
根据权利要求23所述的云台相机，其特征在于，所述多个焦距段包括光学变焦的焦距段与数字变焦的焦距段。The pan-tilt camera according to claim 23, wherein the multiple focal lengths include a focal length of optical zoom and a focal length of digital zoom.
一种无人机，其特征在于，包括：机体、与所述机体连接的云台、与所述云台连接的可变焦摄像头；An unmanned aerial vehicle, characterized by comprising: a body, a pan-tilt connected to the body, and a zoomable camera connected to the pan-tilt;

所述可变焦摄像头的变焦范围包括多个焦距段；The zoom range of the zoomable camera includes multiple focal lengths;

所述无人机还包括：处理器及存储有计算机程序的存储器；The unmanned aerial vehicle also includes: a processor and a memory storing a computer program;

所述处理器在执行所述计算机程序时实现以下步骤：The processor implements the following steps when executing the computer program:

确定所述可变焦摄像头当前的变焦倍率；Determining the current zoom magnification of the zoomable camera;

将所述无人机的图像增稳策略调整至所述当前的变焦倍率所在的焦距段对应的图像增稳策略；其中，每个所述焦距段对应的图像增稳策略不同，所述焦距段所包含的变焦倍率与所述焦距段对应的图像增稳策略的增稳强度正相关。The image stabilization strategy of the UAV is adjusted to the image stabilization strategy corresponding to the focal length segment where the current zoom magnification is located; wherein, the image stabilization strategy corresponding to each focal length segment is different, and the focal length segment The included zoom magnification is positively correlated with the stabilization strength of the image stabilization strategy corresponding to the focal length range.
根据权利要求34所述的无人机，其特征在于，所述可变焦摄像头的变焦范围包括第一焦距段、第二焦距段与第三焦距段，所述第一焦距段所包含的变焦倍率最小，所述第三焦距段所包含的变焦倍率最大。The drone of claim 34, wherein the zoom range of the zoomable camera includes a first focal length, a second focal length, and a third focal length, and the zoom magnification included in the first focal length is Is the smallest, and the zoom magnification included in the third focal length segment is the largest.
根据权利要求35所述的无人机，其特征在于，所述第一焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制。The drone of claim 35, wherein the image stabilization strategy corresponding to the first focal length range comprises: performing stabilization control on the zoomable camera through the pan/tilt.
根据权利要求36所述的无人机，其特征在于，所述第二焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制，以及通过指定的电子防抖算法对图像进行处理。The UAV according to claim 36, wherein the image stabilization strategy corresponding to the second focal length segment comprises: stabilizing the zoom camera through the pan/tilt, and via a designated electronic The anti-shake algorithm processes the image.
根据权利要求37所述的无人机，其特征在于，所述处理器在执行通过指定的电子防抖算法对图像进行处理的步骤时，具体用于根据目标姿态信息与所述无人机的惯性测量单元IMU采集的当前姿态信息的差值，对所述变焦相机采集的图像进行修正。The UAV according to claim 37, wherein the processor is specifically configured to communicate with the UAV according to the target attitude information when the processor executes the step of processing the image through the designated electronic anti-shake algorithm. The difference of the current posture information collected by the inertial measurement unit IMU corrects the image collected by the zoom camera.
根据权利要求37所述的无人机，其特征在于，所述第三焦距段对应的图像增稳策略包括：通过所述云台对所述可变焦摄像头进行增稳控制，以及通过所述电子防抖算法对图像进行处理，以及，根据所述可变焦摄像头拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿。The drone according to claim 37, wherein the image stabilization strategy corresponding to the third focal length segment comprises: stabilizing the zoom camera through the pan/tilt, and controlling the zoom camera through the electronic The image stabilization algorithm processes the image, and compensates for the rotation of the pan/tilt head according to the difference between two adjacent frames of images captured by the zoomable camera.
根据权利要求39所述的无人机，其特征在于，所述相邻的两帧图像是所述无人机处于悬停状态时拍摄的。The drone of claim 39, wherein the two adjacent frames of images are taken when the drone is in a hovering state.
根据权利要求40所述的无人机，其特征在于，所述处理器在执行根据所述可变焦摄像头拍摄的相邻的两帧图像之间的差异对所述云台的转动量进行补偿的步骤时，具体用于根据所述相邻的两帧图像之间的差异，计算所述无人机的IMU的漂移量，根据计算出的所述漂移量对所述云台的转动量进行补偿。The unmanned aerial vehicle according to claim 40, wherein the processor performs compensation for the rotation of the pan/tilt according to the difference between two adjacent frames of images captured by the zoom camera. In the step, it is specifically used to calculate the drift amount of the IMU of the UAV according to the difference between the two adjacent frames of images, and compensate the rotation amount of the pan/tilt according to the calculated drift amount .
根据权利要求41所述的无人机，其特征在于，所述漂移量是根据所述相邻的两帧图像之间的光流信息计算得到的。The UAV according to claim 41, wherein the drift amount is calculated based on optical flow information between the two adjacent frames of images.
根据权利要求41所述的无人机，其特征在于，所述漂移量还用于在通过所述电子防抖算法对图像进行处理时确定所述图像的待裁剪区域。The UAV according to claim 41, wherein the drift amount is also used to determine the area to be cropped of the image when the image is processed by the electronic anti-shake algorithm.
根据权利要求34所述的无人机，其特征在于，所述多个焦距段包括光学变焦的焦距段与数字变焦的焦距段。The drone of claim 34, wherein the multiple focal lengths include a focal length of optical zoom and a focal length of digital zoom.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至11任一项所述的图像增稳方法。A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the image stabilization according to any one of claims 1 to 11 is realized. method.