CN105045279A - System and method for automatically generating panorama photographs through aerial photography of unmanned aerial aircraft - Google Patents
System and method for automatically generating panorama photographs through aerial photography of unmanned aerial aircraft Download PDFInfo
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Abstract
The invention discloses a system and a method for automatically generating panorama photographs through aerial photography by an unmanned aerial aircraft, belonging to the image information technology field. The system comprises an unmanned aircraft, an image collection device, a communication device, a control device and a panorama photograph obtaining device. The control device presets a photographing mode according to the performance parameters, photographing requirement and photographing environment of the image collection device; the unmanned aircraft executes flying and aerial photography task; the image collection device performs image collection to obtain preset quantity of sample photos having partial overlapping areas; the panorama photo obtaining device chooses a corresponding image processing method to automatically process the sample photograph according to the preset photographing mode, and outputs the panorama photos. The invention adopts the unmanned aircraft to perform the aerial photographing, integrates the functions of automatic generation and sharing of the panorama photos, and provides convenience to usage and sharing by the user.
Description
Technical field
The present invention relates to image information field, be specifically related to a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the system and method for distant view photograph.
Background technology
Unmanned vehicle Aerial photography, demonstration flight, take precautions against natural calamities recover, there is wide application in the field such as scientific investigation.Along with the develop rapidly of electronic technology, small-sized, miniature unmanned vehicle has had obvious breakthrough in Remote, cruising time, flight quality, becomes the General Aviation field focus of rising in recent years, is generally considered and has good development prospect.Unmanned vehicle, especially four-axle aircraft have started extensively to enter consumer level market, and take photo by plane exactly in unmanned vehicle widespread use field.Typically, as four axle multi-rotor aerocrafts have become the preferred unit of taking photo by plane.
Take photo by plane and mean from the angle being more difficult to obtain and more unrestricted mode, realize the shooting to object, for subject, the experience never obtained before can obtaining.When take photo by plane to as if natural landscape time, adopt the photo that angle obtains of taking photo by plane to have and extremely strong play up power, when such as finding a view under the environment that takes a crane shot, the shooting effect extremely having impact can be obtained especially.
Such as: the Chinese invention patent application that application number is 201410075610.8, denomination of invention is " unmanned vehicle panorama tracking system real-time dynamic " discloses unmanned vehicle panorama tracking system real-time dynamic, it comprises air information acquisition system and ground and controls and information handling system.Air information acquisition system comprises: unmanned vehicle, be mounted in imaging device on unmanned vehicle and data transmission set A, and unmanned vehicle is provided with servomechanism; Data transmission set A is connected with servomechanism and imaging device communication respectively.Ground controls and information handling system comprises: data transmission set B, industrial computer and panoramic mosaic treatment facility; Data transmission set B is connected with industrial computer and the communication of panoramic mosaic treatment facility respectively.Air information acquisition system controls with ground and information handling system is connected with data transmission set B communication by data transmission set A.The present invention carries imaging device by unmanned vehicle can carry out in real time dynamically observation to target.
In addition, the Chinese invention patent application that application number is 201410256963.8, denomination of invention is " a kind of unmanned vehicle airborne panorama monitoring system " discloses the airborne panorama monitoring system of a kind of unmanned vehicle, aerial remote sensing images is real-time transmitted to ground, and generates the real-time monitoring system of panorama remote sensing images; System is made up of with ground safeguard subsystem and panoramic mosaic processing subsystem unmanned vehicle and remote sensor subsystem, information transmission; Wherein, unmanned vehicle carries remote sensor, for obtaining sensor information; Information transmission equipment in information transmission and ground safeguard subsystem is for transmitting the state of unmanned vehicle, The Cloud Terrace and remote sensor and control signal and lower blit picture, and ground handling equipment is used for transport, storage system equipment, and provide ground safeguard in all directions for system equipment; Panoramic mosaic processing subsystem realizes Real-Time Monitoring for realizing completing automatic panoramic mosaic to the image information passed down.The present invention guarantees that monitoring equipment is convenient to unprofessional user and is used, simple to operate.
But current user is unmanned vehicle developer in other words, be only concerned about this demand itself of taking photo by plane in the air, and put forth effort on becoming more meticulous and controlledization of this process of taking photo by plane of lifting, and ignore the excavation for the demand of taking photo by plane.
For user, if go for pan-shot photo, need to manipulate unmanned vehicle flight respectively, manipulation The Cloud Terrace moves, manipulate camera shooting, then also will derive photo, process, be transferred to and suitable share software, the displaying that then could realize content of shooting with show off.This is for layman, complex operation, time-consuming many, require high, greatly reduce Consumer's Experience.
Summary of the invention
Goal of the invention of the present invention is to provide and a kind ofly utilizes unmanned vehicle to take photo by plane automatically to generate the system and method for distant view photograph, adopt the mode that unmanned vehicle The Cloud Terrace rotates, automatically complete photographic material to obtain, and be integrated with the automatic generation function of distant view photograph, simple to operate, greatly convenient for users to use, improve Consumer's Experience.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, comprise unmanned vehicle, image collecting device, communicator, described image collecting device is equipped on described unmanned vehicle, also comprise control device and distant view photograph acquisition device, described communicator connects described unmanned vehicle, described control device and described distant view photograph acquisition device, wherein
Described control device is applicable to performance parameter according to described image collecting device, photographing request, shooting environmental are selected predetermined screening-mode, and by described communicator, steering order be sent to described unmanned vehicle;
Described unmanned vehicle is applicable to perform flight and task of taking photo by plane under described steering order;
Described image collecting device is applicable to carry out image acquisition according to described predetermined screening-mode, obtains the sample photo containing the region that overlaps of predetermined number, by described communicator, described sample photo is sent to described distant view photograph acquisition device;
Described distant view photograph acquisition device is applicable to select corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, exports distant view photograph.
Further, described unmanned vehicle is multi-rotor aerocraft, and it is applicable to rotary taking three-dimensional samples photo under floating state.
Further, also comprise distant view photograph sharing apparatus, the terminal of specifying shared by its distant view photograph be applicable to described distant view photograph acquisition device exports by wireless or wired mode.
Further, described predetermined screening-mode comprises ball-type panorama photographing mode and column type panorama photographing mode, wherein,
Described column type panorama photographing mode refer to the observation viewpoint of described image collecting device be positioned on right cylinder internal rotating axle a bit, described sample photographic intelligence is mapped on cylinder model;
Described ball-type panorama photographing mode refers to that viewpoint at described image collecting device is with observation that is arbitrarily angled, any direction, synthesizes on described sample photographic projection to Sphere Measurement Model.
Further, described distant view photograph acquisition device comprises image pre-processing module, image registration module, image co-registration module, and described image registration module connects described image pre-processing module and described image co-registration module respectively, wherein,
Described image pre-processing module comprises geometric distortion correction unit and restraint speckle dot element, described geometric distortion correction unit is applicable to the source founding mathematical models finding out image fault from described sample photo, the shape of target and locus in Recovery image, described restraint speckle dot element is applicable to adopt frequency domain filtering or medium filtering restraint speckle;
Described image registration module is applicable to, to the image zooming-out characteristic information to be spliced through described image pre-processing module process, be integrated by described characteristic information, calculate splicing parameter, according to described splicing parameter to images match;
Described image co-registration module is applicable in addition automatic analysis, the optimal combination of the image after described image registration module coupling splice, eliminates splicing line, generation distant view photograph.
According to another aspect of the present invention, provide and a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, described unmanned vehicle is equipped with image collecting device, and the method comprises the following steps:
Automatic generation distant view photograph task initialization;
Predetermined screening-mode is selected according to the performance parameter of image collecting device, photographing request, shooting environmental;
Described unmanned vehicle carries out image acquisition according to predetermined screening-mode, obtains the sample photo containing the region that overlaps of predetermined number;
Select corresponding image processing algorithm automatically to process described sample photo, generate distant view photograph.
Further, also comprise and share step, shared the terminal of specifying by described distant view photograph by wireless or wired mode.
Further, described predetermined screening-mode comprises ball-type panorama photographing mode and column type panorama photographing mode, wherein,
Described column type panorama photographing mode refer to the observation viewpoint of described image collecting device be positioned on right cylinder internal rotating axle a bit, described sample photographic intelligence is mapped on cylinder model;
Described ball-type panorama photographing mode refers to that viewpoint at described image collecting device is with observation that is arbitrarily angled, any direction, synthesizes on described sample photographic projection to Sphere Measurement Model.
Further, the corresponding image processing algorithm of described selection processes automatically to described sample photo, generates the step of distant view photograph, specifically comprises the following steps:
Image semantic classification is carried out to described sample photo, described Image semantic classification comprises geometric distortion correction and restraint speckle point further, described geometric distortion correction refers to the source founding mathematical models by finding out image fault from described sample photo, the shape of target and locus in Recovery image, described restraint speckle point refers to and adopts frequency domain filtering or medium filtering restraint speckle;
Carry out image registration to the image to be spliced through described Image semantic classification, described image configurations refers to characteristic information extraction, is integrated by described characteristic information, calculates splicing parameter, according to described splicing parameter to images match;
Spliced image will be mated through described image registration and carry out image co-registration, eliminate splicing line, generate distant view photograph.
Further, described automatic generation distant view photograph task initialization comprises the following steps:
Described unmanned vehicle flies and arrives appointed place under steering order;
Rotary taking state is entered after described unmanned vehicle hovering.
The invention discloses and a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the system and method for distant view photograph, when adopting unmanned vehicle to carry out taking photo by plane, the mode of being carried camera by The Cloud Terrace is taken, can realize the shooting at 360 degree of angles very easily, namely The Cloud Terrace is from circling and carrying out taking the material that just can obtain being very suitable for converting to distant view photograph.And the distant view photograph of angle of taking photo by plane, landforms that can be complete from reflection fabulous in the air.Relative to conventional panoramic shooting, revolve turn around if people lifts camera, the instability of shooting easily occurs, and adopts the mode that unmanned vehicle The Cloud Terrace rotates, even without tripod, also better to complete photographic material acquisition; And distant view photograph of taking photo by plane, solves the physical restriction to pan-shot ground, even want to realize pan-shot from lake surface or outside steep cliff, also no problem; In addition, the present invention is also integrated with generation and the sharing function of distant view photograph, can user-friendly with share.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, clearly understand in order to technological means of the present invention can be made, reach the degree that those skilled in the art can be implemented according to the content of instructions, and in order to above and other objects of the present invention, feature and advantage can be allowed to become apparent, be illustrated with the specific embodiment of the present invention below.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Figure of description only for illustrating the object of preferred implementation, and does not think limitation of the present invention.Apparently, accompanying drawing described below is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, represent identical parts with identical Reference numeral.In the accompanying drawings:
Fig. 1 shows and utilizes unmanned vehicle to take photo by plane automatically to generate the system architecture schematic diagram of distant view photograph according to the embodiment of the present invention one;
Fig. 2 shows and utilizes unmanned vehicle to take photo by plane automatically to generate the system architecture schematic diagram of distant view photograph according to the embodiment of the present invention two;
Fig. 3 shows and utilizes unmanned vehicle to take photo by plane automatically to generate the method flow diagram of distant view photograph according to the embodiment of the present invention three;
Fig. 4 shows and utilizes unmanned vehicle to take photo by plane automatically to generate the method flow diagram of distant view photograph according to the embodiment of the present invention four.
Embodiment
In more detail specific embodiments of the invention are described below with reference to accompanying drawings.Although show specific embodiments of the invention in accompanying drawing, however should be appreciated that can realize the present invention in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the present invention can be understood, and complete for scope of the present invention can be conveyed to those skilled in the art.
It should be noted that, in the middle of instructions and claim, employ some vocabulary to censure specific components.Those skilled in the art should be appreciated that hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of noun the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " or " comprising " as mentioned in the middle of instructions and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to ".Instructions subsequent descriptions is for implementing better embodiment of the present invention, and right described description is for the purpose of the rule of instructions, and is not used to limit scope of the present invention.Protection scope of the present invention is when being as the criterion depending on the claims person of defining.
For ease of the understanding to the embodiment of the present invention, be further explained explanation below in conjunction with accompanying drawing for several specific embodiment, and each accompanying drawing does not form the restriction to the embodiment of the present invention.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.
In the embodiment of the present invention, preferred unmanned vehicle is many rotor unmanned aircrafts (or being called multi-rotor aerocraft), can be four rotors, six rotors and the rotor quantity unmanned vehicle that is greater than six.Preferably, fuselage is made up of carbon fibre material, under the prerequisite meeting higher working strength and rigidity, significantly can alleviate the weight of fuselage, thus reduces the power demand of many rotor unmanned aircrafts and improve the maneuverability of many rotor unmanned aircrafts.Certainly, in other embodiments of the invention, fuselage can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple slurry arm be symmetric relative to the symmetrical plane in described fuselage, each slurry arm is provided with paddle components away from one end of described fuselage, described paddle components comprises the motor be arranged on described slurry arm and the blade be connected on the output shaft of described motor, and the rotation of every a slice blade is all positioned on the same face of cylinder.
The flight capture apparatus that technical solution of the present invention adopts mainly refers to little, miniature many rotor unmanned aircrafts, and this unmanned vehicle volume is little, cost is low, flight stability is better, and flight shooting cost is low.The present invention use aircraft, typically with four axle multi-rotor aerocrafts for representative.Further, this aircraft has started to be widely used in the field of taking photo by plane.
Embodiment one, a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph.
Fig. 1 be the embodiment of the present invention one utilize unmanned vehicle to take photo by plane automatically to generate the system architecture schematic diagram of distant view photograph, composition graphs 1 is specifically described by the embodiment of the present invention.
As shown in Figure 1, embodiments provide and a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, comprise unmanned vehicle 101, image collecting device 102, communicator 103, described image collecting device 103 is equipped on described unmanned vehicle 101, also comprise control device 104 and distant view photograph acquisition device 105, described communicator 103 connects described unmanned vehicle 101, described control device 104 and described distant view photograph acquisition device 105, wherein
Described control device 104 is applicable to performance parameter according to described image collecting device 102, photographing request, shooting environmental are selected predetermined screening-mode, and by described communicator 103, steering order be sent to described unmanned vehicle 101;
Described unmanned vehicle 101 is applicable to perform flight and task of taking photo by plane under described steering order;
Described image collecting device 102 is applicable to carry out image acquisition according to described predetermined screening-mode, obtain the sample photo containing the region that overlaps of predetermined number, by described communicator 103, described sample photo is sent to described distant view photograph acquisition device 105;
Described distant view photograph acquisition device 105 is applicable to select corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, exports distant view photograph.
Preferred in the embodiment of the present invention, described unmanned vehicle is multi-rotor aerocraft, and it is applicable to rotary taking three-dimensional samples photo under floating state.
Concrete, what the embodiment of the present invention was paid close attention to is commercial market, it is of concern that how to allow domestic consumer can realize the acquisition of three-dimensional panorama photo easily, because the photo acquisition of traditional Fixed Wing AirVehicle can not produce on the basis of aircraft hovering, generation distant view photograph of taking pictures can only be leaned in non-stop flight, such distant view photograph refers to a large-scale photo, so, what the embodiment of the present invention utilized is multi-rotor aerocraft, after described multi-rotor aerocraft hovering, carry out rotary taking, obtain three-dimensional panorama photo.
Preferred in the embodiment of the present invention, described system also comprises distant view photograph sharing apparatus, and the terminal of specifying shared by its distant view photograph be applicable to described distant view photograph acquisition device 105 exports by wireless or wired mode.Described terminal can be the mobile terminal such as smart mobile phone and panel computer or the Networked electronic devices arbitrarily such as PC, personal digital assistant in embodiments of the present invention.Smart mobile phone is that example is described all below.
Preferred in the embodiment of the present invention, described predetermined screening-mode comprises ball-type panorama photographing mode and column type panorama photographing mode, wherein,
Described column type panorama photographing mode refer to the observation viewpoint of described image collecting device 102 be positioned on right cylinder internal rotating axle a bit, described sample photographic intelligence is mapped on cylinder model;
Described ball-type panorama photographing mode refers to that viewpoint at described image collecting device is with observation that is arbitrarily angled, any direction, synthesizes on described sample photographic projection to Sphere Measurement Model.
Preferred in the embodiment of the present invention, under described column type panorama photographing mode, the vertical height position of fixing described image collecting device 102, rotate described image collecting device 102 1 weeks, take according to predetermined time interval; Under described ball-type panorama photographing mode, described in certain height, image collecting device 102 keeps horizontal level, rotate described image collecting device to take continuously around fixed position, then by described image collecting device 102 respectively on steeve, overlook predetermined angle downwards and take.
Preferred in the embodiment of the present invention, described distant view photograph acquisition device 105 comprises image pre-processing module, image registration module, image co-registration module, and described image registration module connects described image pre-processing module and described image co-registration module respectively, wherein,
Described image pre-processing module comprises geometric distortion correction unit and restraint speckle dot element, described geometric distortion correction unit is applicable to the source founding mathematical models finding out image fault from described sample photo, the shape of target and locus in Recovery image, described restraint speckle dot element is applicable to adopt frequency domain filtering or medium filtering restraint speckle;
Described image registration module is applicable to, to the image zooming-out characteristic information to be spliced through described image pre-processing module process, be integrated by described characteristic information, calculate splicing parameter, according to described splicing parameter to images match;
Described image co-registration module is applicable in addition automatic analysis, the optimal combination of the image after described image registration module coupling splice, eliminates splicing line, generation distant view photograph.
Preferred in the embodiment of the present invention, also comprise The Cloud Terrace, described image collecting device 102 is connected on described unmanned vehicle 101 by described The Cloud Terrace, and described control device 104 realizes the rotation of described image collecting device 102 by described The Cloud Terrace.Three axle stable inertia The Cloud Terraces are selected in the embodiment of the present invention.
Preferred in the embodiment of the present invention, described image collector is set to camera or camera, comprises the larger fish eye lens of the wide-angle ken, the wide-angle lens of other parameter areas or conventional camera lens.Although a Zhang Quanjing image directly can be obtained by panorama camera, for domestic consumer, use complexity and expensive.During shooting, around vertical axis revolving camera, rotate by the angle a selected, often rotate a angle, take a photo in this position, when choosing a, will guarantee that adjacent photo has enough overlapping regions.In theory, camera rotates around its optical axis.The size of overlapping region is joining quality and the most important influence factor of splicing speed.Overlap proportion is larger, and the formation speed of distant view photograph is slower, and the sample photo simultaneously needed is also more.
Preferred in the embodiment of the present invention, described control device 104 can select predetermined screening-mode according to the performance parameter of camera, photographing request, shooting environmental.Concrete, because when adopting camera that is different classes of and parameter to take, viewfinder range is either large or small, and the sample photo distortion degree obtained is also different simultaneously; And, according to the quantity difference of the sample photo that actual photographed obtains, different distant view photograph effects also can be obtained; In addition, external environment condition, as the difference of light, interference etc., is taken the sample photographic quality that obtains and is had difference, so, need the camera classification according to the concrete photographing request of user and current employing, parameter, shooting environmental to select different screening-modes., aircraft comparatively stable at flight environment of vehicle hovers over aerial also highly stable, photograph taking quantity can be increased, improve the quality of final distant view photograph; The angle of camera lens even can also be adjusted on vertical coordinate, take around sample photo when having a fixed angle of altitude, several groups of such sample photos are merged, thus passes through the scope and the precision that increase image acquisition, improve the quality of distant view photograph.On the other hand, in extreme circumstances, also with fish eye lens successively difference 180 degree, only can take two sample photos, just can complete the work that photographic material obtains, greatly improve the speed of image acquisition.
Preferred in the embodiment of the present invention, described column type panorama photographing mode is further divided into triple time pattern and four bat patterns.Concrete, described triple time, pattern referred to that described image collecting device is according to predetermined time interval, carries out in the process of 360 degree of rotations, often rotate 120 degree enforcement photograph takings at cradle head control camera, typically, such as 3 sample photos are taken respectively at 0 degree, 120 degree, 240 degree; Described four bat patterns refer to that described image collecting device is according to predetermined time interval, carry out in the process of 360 degree of rotations at cradle head control camera, every 90-degree rotation implements photograph taking, typically, such as takes 4 sample photos respectively at 0 degree, 90 degree, 180 degree, 270 degree.In described column type panorama photographing mode process, avoid deflection and the pitching of camera lens as far as possible, the sample photo eigen with overlapping region obtained is carried out being spliced to form distant view photograph.
Preferred in the embodiment of the present invention, described ball-type panorama photographing mode can be implemented in the viewpoint of camera with observation that is arbitrarily angled, any direction, is all projected on Sphere Measurement Model by the sample photo of all shootings and synthesizes, just obtain spherical panorama photo.Spherical panorama photo meets the structure of human eye and adapts to the observation habit of people most, and meets anisotropy, and the sense of reality can be more true to nature.
Concrete, first horizontal level is kept at certain height camera, around fixed position, rotation camera is taken continuously, to ensure in shooting process that adjacent photo has sufficient registration, embodiment of the present invention selection 0.3 i.e. two width images are preferably the coincidence of 30%, ensure to comprise all image informations of surrounding environment, the shake of camera lens when simultaneously as far as possible avoiding horizontally rotating, otherwise increase unnecessary calculated amount can to coupling, affect the precision of image mosaic, all image mosaic of this one deck are formed and looks squarely a layer distant view photograph; Then upwards steeved by camera 60 degree, method is with the shooting of plan view, and after splicing, result looks up distant view photograph as to be spliced in spherical panorama photo; The shooting overlooking panorama sketch with under, adjustment camera overlooks 60 degree downwards, obtains to be spliced overlooking distant view photograph.The gatherer process of the embodiment of the present invention can obtain all scene information in whole view space.
In embodiments of the present invention, described in described unmanned vehicle 101, the task of taking photo by plane can be pre-set the route planned, carry out flying according to navigation information and photographing request, namely described control device 104 will comprise described predetermined screening-mode in advance, the steering order of telecommand is sent in described unmanned vehicle 101 and stores, no longer remote pilot is there is in midway, emergency processing in the situation that breaks down just is set as required, making a return voyage process or in emergency circumstances utilize cellular base station frequency range to beam back finally dot information etc. or the relay of design relay point to control after such as lost contact.Certainly, when closely remote control, also by the mode of wireless telecommunications, telecommand can be sent in real time to described unmanned vehicle 101 via described control device 104, control flight attitude and the state of flight of described unmanned vehicle 101.When the unmanned plane user of consumption levels, it is generally closely operate unmanned vehicle automatically to generate distant view photograph task to realize of the present invention taking photo by plane, and therefore, have selected the control mode of the latter in the following embodiments.
Preferred in the embodiment of the present invention, described control device 104 can comprise CPU module and telepilot, the geographic coordinate information that described CPU module can provide according to guider is described unmanned vehicle 101 devise optimum flight path path, and carries out corresponding flare maneuver according to the actuator module that designed optimal trajectory trajectory path information controls described unmanned vehicle 101.Be equipped with the unmanned vehicle 101 of image collecting device, via control realization the moving freely within the scope of the axle of space six of telepilot.When described unmanned vehicle 101 flies user appointed place, first enter floating state.When described unmanned vehicle 101 receive from described telepilot start to carry out the order of distant view photograph shooting after, perform pan-shot action.
Preferred in the embodiment of the present invention, also comprise distant view photograph memory storage, it is applicable to receive the sample photo of described image acquisition device and/or the distant view photograph of described distant view photograph acquisition device output, and by it stored in database.
Preferred in the embodiment of the present invention, also comprise distant view photograph display device, it connects described distant view photograph sharing apparatus, transfers the distant view photograph stored in described distant view photograph memory storage show according to respective request.
Unmanned vehicle 101 for taking photo by plane in the embodiment of the present invention, mainly comprises unmanned vehicle 101 and the aerial device be arranged on unmanned vehicle 101 and described image collecting device 102.
Concrete, comprise unmanned vehicle main body, shock attenuation device, aerial device bracket, wherein, described aerial device bracket is preferably aerolite bracket, make the quality of unmanned vehicle 101 lighter like this, it is connected in unmanned vehicle 101 main body by described shock attenuation device, and unmanned vehicle 101 body interior is provided with control module and power supply.The aerial device be located on described aerial device bracket is connected with described control module and power electric respectively, and wherein, described power supply is lithium battery.
Described unmanned vehicle main body comprises fuselage, the unmanned vehicle undercarriage be located on fuselage.
Wherein, described shock attenuation device can make when described unmanned vehicle 101 aloft in flight course owing to affecting by gas shock; during the swing vibration continuously produced; use described shock attenuation device can eliminate the impact of these vibrations; guarantee is taken photo by plane quality, plays a protective role to aerial device.
Preferred in the embodiment of the present invention, described unmanned vehicle 101 also comprises power plant module and locating module.Further, described control module comprises further:
Three-axis gyroscope, it is for measuring the angular velocity information of unmanned vehicle;
Three axis accelerometer, it is for measuring the acceleration information of unmanned vehicle; The ADXL330 of preferred employing ADI company, its sensitivity is 300mv/g, zero-bit is 1.5V, impact resistance is 10000g.
Ultrasonic range finder, it is for measuring the distance between described unmanned vehicle 101 and ground when described unmanned vehicle 101 and ground are not more than 2 meters apart;
Barometer, it is for measuring the distance between described unmanned vehicle 101 and ground when described unmanned vehicle 101 and ground are greater than 2 meters apart;
Central controller, its for receive from described three-axis gyroscope and three axis accelerometer transmission data, receive from the telecommand data of described control device 104, from described ultrasonic range finder or barometrical measurement data, and received various data are processed to control described filming apparatus based on result; And control electron speed regulator, thus the rotating speed of each motor can be adjusted in real time by described electron speed regulator.
The embodiment of the invention discloses and a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, take full advantage of unmanned vehicle aloft find a view shooting, to carry out taking pictures processing the possibility obtaining distant view photograph, the function taken by distant view photograph, process, shared is carried out integrated, the step of dispersion is become practical function.After user have selected suitable spot for photography, follow-up unmanned vehicle hovering, the work such as the process of view data, the generation of distant view photograph that The Cloud Terrace is found a view around rotating, camera lens completes shooting in suitable angle, gathers, all complete via automated manner, greatly save the running cost of user.
Embodiment two, a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph.
Fig. 2 be the embodiment of the present invention 2 utilize unmanned vehicle to take photo by plane automatically to generate the system architecture schematic diagram of distant view photograph, composition graphs 2 is specifically described by the embodiment of the present invention.
As shown in Figure 2, embodiments provide and a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, comprise unmanned vehicle 101, The Cloud Terrace 201, image collecting device 102, described image collecting device 102 is equipped on described unmanned vehicle 101 by described The Cloud Terrace 201, also comprise communicator 103, control device 104, distant view photograph acquisition device 105, distant view photograph sharing apparatus 205, described communicator 103 is connected to described unmanned vehicle 101, image collecting device 102, control device 104, distant view photograph acquisition device 105, can with they two-way communications, described distant view photograph sharing apparatus 205 connects described distant view photograph acquisition device 105, described distant view photograph acquisition device 105 comprises image pre-processing module 202 further, image registration module 203 and image co-registration module 204.
Preferred in the embodiment of the present invention, described image pre-processing module 202 comprises geometric distortion correction unit and restraint speckle dot element, primary responsibility carries out geometric distortion correction, restraint speckle point to described sample photo, simplify unnecessary information, thus provide reliable guarantee for follow-up image procossing.In actual image acquisition, described sample photo can be subject to the impact of the factor such as illumination, shake, just needed to do some basic image procossing to image before images match, such as histogram equalization and gray-scale value process, if image to be matched is not a direction shooting, so can produce angle during projection, projective transformation must be carried out to it, to be transformed into same projected coordinate system, also need after projection transform completes its backwards projection, form planar view picture so that observe.
In distant view photograph splicing, can contain much information for the initial overlapping region of images match, therefore calculation task is also corresponding heavy, pass through Image semantic classification, namely original image is corrected, feature extraction and coordinate transform, determine matched position roughly, effectively reduce operand, improve precision and the speed of coupling.
Concrete, described geometric distortion correction unit can when obtaining described sample photo resources, and when camera lens does not face scenery, distortion may appear in the scene image photographed, and produce geometric distortion, geometric distortion has a strong impact on the registration of image.The basic ideas of geometry correction are, find out the source founding mathematical models of image fault, corresponding geometric operation process is done to image, required information is extracted from the picture signal producing distortion, the shape of target and locus in Recovery image, reduction style.
Concrete, described restraint speckle dot element often adopts the method such as frequency domain filtering or medium filtering restraint speckle.
Preferred in the embodiment of the present invention, described image registration module 203 primary responsibility is to treated image zooming-out characteristic information to be spliced.Then described characteristic information is integrated, calculates splicing parameter, finally according to these resource datas to images match.
Image registration is the core link of whole image mosaic process, it has a great impact the splicing speed of image and quality, the pending image taken is compared, find the common characteristic in two width images, or go to find according to the known conditions of piece image the pattern that another width conforms to it.Image registration is generally the work carried out adjacent multiple pictures.Usually the width in this picture group is used as and joins reference of reference, claim it to be reference diagram, another width is search graph.Two side's relations of plane are mainly determined in image registration, and one is determine that adjacent photo registration has the reference mark of sufficient amount; Two is the pixel coordinate corresponding relations determining this group photo according to reference mark.
Under different environment, condition, the two dimensional image that Same Scene forms also also exists obvious difference.Current image processing field has the method for a lot of registration, and often kind of method only adapts to the image of one or more types, and which kind of method can not make all types of image can obtain satisfied coupling.Before selection matching process, the type of analysis chart picture itself, be the pixel according to image mostly, characteristics of image selects method for registering.Typical matching process has: the long-pending relevant Gray-scale Matching algorithm of image normalization; Based on the method for registering images of transform domain; Sequential similarity detection method matching algorithm (SimilaritySequentialDetectionAlgorithmSSDA); The image matching algorithm of feature based.
In the embodiment of the present invention, can go according to the registration Algorithm determined to select proper method to Image semantic classification, also by the transformation model collecting image determination stitching image, the result of Image semantic classification can be drawn, and then select image registration algorithm.
Preferred in the embodiment of the present invention, the technology of image co-registration is adopted in order to reach seamless spliced effect.After the view data collected under different condition coupling splice by described image co-registration module 204 primary responsibility, process it, in addition automatic analysis, optimal combination, generated the iamge description that a width effect is true to nature again, is beneficial to and observes and process.Image Fusion should meet the requirement of two aspects, and fusion method should have gradually changeable on the one hand, to ensure the transition of split edge smoothing, eliminates obvious splicing line; On the other hand, fusion treatment should be only effective to the overlapping region of splicing, can not lose the information of original image because of fusion treatment.
All images in scene are spliced after fusion completes successively, just generates the complete distant view photograph that a width comprises all information of viewpoint.The distant view photograph of generation is transferred to telepilot or other need the user terminal of this distant view photograph result, confirms for user, and shared micro-letter circle of friends, QQ space, microblogging etc. of user by described distant view photograph sharing apparatus 205.
Preferred in the embodiment of the present invention, due to the sequencing of screening-mode, system-computed burden reduces, and image procossing mode is fixed, and can realize being used alone a picture processing chip to realize pan-shot function.
In addition, in the above-described embodiments, picture processing chip can be arranged on described unmanned vehicle 101, but in order to be reduced in the load of unmanned vehicle end further, comprise the load in mass loading physically and computing power, also by all successive image processing procedures in panorama photographing mode, telepilot end or user terminal realization can be placed on.Namely described distant view photograph acquisition device 105 can be an independent physical equipment, also can be integrated on user terminal or described control device 104, can also be integrated on described unmanned vehicle 101.
The embodiment of the present invention is preferred, adopts the scheme described distant view photograph acquisition device 105 and described unmanned vehicle 101 are provided separately.Described unmanned vehicle 101 needs the basic image data be collected and described sample photo to send to described distant view photograph sharing apparatus 205 via suitable approach, and described distant view photograph sharing apparatus 205 can complete splicing and the generation of distant view photograph automatically according to pre-set programs.In this case, on unmanned vehicle, required realizing of task less, more succinctly, and its corresponding flight needs the load of carrying also to reduce further, enhances flying quality and the cruising time of unmanned vehicle.
Preferred in the embodiment of the present invention, when described control device 104 determines after unmanned vehicle performs this task of taking photo by plane, it is carried out to the formulation of trajectory planning and photographing request.Described trajectory planning comprises described unmanned vehicle 101 departure location, concrete flight path, flight time, return route or landing place etc.; Described photographing request comprises the requirement such as appointed place, shooting height, shooting time interval, boat sheet sharpness, boat chip resolution that unmanned vehicle carries out taking.
The control module of described unmanned vehicle 101 receives the instruction from described control device 104, and controls the power plant module of described unmanned vehicle 101, locating module, image collecting device 102 based on received data.Described filming apparatus is here camera or linear array digital aviation video camera, and it, for receiving the instruction of described control module, is taken photo by plane based on received instruction.
Concrete, described control device 104 sends instruction of taking off to the described unmanned vehicle 101 distributing task of taking photo by plane by described communicator 103, the lift now produced after driven by motor propeller rotational makes unmanned vehicle 101 take off, remotely pilotless aircraft flight attitude, flying height, after described unmanned vehicle 101 formally enters default course line, described control device 104 sends the photographic subjects point instruction in region to be measured to described unmanned vehicle 101, unmanned vehicle 101 is according to instruction and fly to photographic subjects point under the guiding of locating module, arrive the overhead, appointed place of shooting, and after reaching the shooting height of specifying, unmanned vehicle hovers, wait is taken photo by plane.
Show through research, when unmanned vehicle 101 is too high apart from ground distance, aerial photograph is unintelligible; When unmanned vehicle 101 is apart from ground height, the photo utilization factor of taking photo by plane is low, containing a large amount of aerial photograph repeated; When unmanned vehicle 101 is 80 meters apart from floor level time, the photo that camera is taken photo by plane out can reach equilibrium point between sharpness and utilization factor, both can take clear photograph, can improve again the utilization factor of aerial photograph, avoids aerial photograph to repeat.Certainly, height of taking photo by plane here specifically can set according to the specification of filming apparatus and shooting clear degree, shooting resolution, and taking photo by plane of general consumption levels highly can be selected between 50-100 rice.
Carrying out taking photo by plane in process, controlling camera lens relative with the angle on ground fixing.When unmanned vehicle 101 receives halt instruction or current location information is consistent with the objective of trajectory planning, this end of taking photo by plane, returns the sample photo of shooting to described distant view photograph acquisition device 105; Or, also can in the process of taking photo by plane, by returning gathered sample photo during network implementation.
A kind ofly disclosed in the embodiment of the present invention utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, when adopting unmanned vehicle to carry out taking photo by plane, the mode of being carried camera by The Cloud Terrace is taken, can realize the shooting at 360 degree of angles very easily, namely The Cloud Terrace is from circling and carrying out taking the material that just can obtain being very suitable for converting to distant view photograph.And the distant view photograph of angle of taking photo by plane, landforms that can be complete from reflection fabulous in the air.Relative to conventional panoramic shooting, revolve turn around if people lifts camera, the instability of shooting easily occurs, and adopts the mode that unmanned vehicle The Cloud Terrace rotates, even without tripod, also better to complete photographic material acquisition; And distant view photograph of taking photo by plane, solves the physical restriction to pan-shot ground, even want to realize pan-shot from lake surface or outside steep cliff, also no problem; In addition, the present invention is also integrated with generation and the sharing function of distant view photograph, can user-friendly with share.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment three, a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph.
Fig. 3 be the embodiment of the present invention three utilize unmanned vehicle to take photo by plane automatically to generate the method flow diagram of distant view photograph, composition graphs 3 is specifically described by the embodiment of the present invention.
As shown in Figure 3, embodiments provide and a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, comprise image update subsystem and image data acquiring control subsystem, the method comprises the following steps:
Step S301: automatically generate distant view photograph task initialization;
Step S302: select predetermined screening-mode according to the performance parameter of image collecting device, photographing request, shooting environmental;
Step S303: described unmanned vehicle carries out image acquisition according to predetermined screening-mode, obtains the sample photo containing the region that overlaps of predetermined number;
Step S304: select corresponding image processing algorithm automatically to process described sample photo, generates distant view photograph.
Preferred in the embodiment of the present invention, also comprise after described step S304 and share step, shared the terminal of specifying by described distant view photograph by wireless or wired mode.Concrete, the distant view photograph of generation is transferred to telepilot end or other need the client of this distant view photograph result, shares on smart mobile phone or panel computer or PC after confirming for user.
Preferred in the embodiment of the present invention, described predetermined screening-mode comprises ball-type panorama photographing mode and column type panorama photographing mode, wherein,
Described column type panorama photographing mode refer to the observation viewpoint of image collecting device be positioned on right cylinder internal rotating axle a bit, described sample photographic intelligence is mapped on cylinder model;
Described ball-type panorama photographing mode refers to that viewpoint at image collecting device is with observation that is arbitrarily angled, any direction, synthesizes on described sample photographic projection to Sphere Measurement Model.
Preferred in the embodiment of the present invention, under described column type panorama photographing mode, the vertical height position of fixing described image collecting device, rotate described image collecting device one week, take according to predetermined time interval; Under described ball-type panorama photographing mode, described in certain height, image collecting device keeps horizontal level, rotate described image collecting device to take continuously around fixed position, then by described image collecting device respectively on steeve, overlook predetermined angle downwards and take.
Preferred in the embodiment of the present invention, described step S304 selects corresponding image processing algorithm automatically to process described sample photo, generates the step of distant view photograph, specifically comprises the following steps:
Image semantic classification is carried out to described sample photo, described Image semantic classification comprises geometric distortion correction and restraint speckle point further, described geometric distortion correction refers to the source founding mathematical models by finding out image fault from described sample photo, the shape of target and locus in Recovery image, described restraint speckle point refers to and adopts frequency domain filtering or medium filtering restraint speckle;
Carry out image registration to the image to be spliced through described Image semantic classification, described image configurations refers to characteristic information extraction, is integrated by described characteristic information, calculates splicing parameter, according to described splicing parameter to images match;
Spliced image will be mated through described image registration and carry out image co-registration, eliminate splicing line, generate distant view photograph.
Preferred in the embodiment of the present invention, described automatic generation distant view photograph task initialization comprises the following steps:
Described unmanned vehicle flies and arrives appointed place under steering order;
Rotary taking state is entered after described unmanned vehicle hovering.
Preferred in the embodiment of the present invention, in order to be reduced in the load of unmanned vehicle end further, comprise the load in mass loading physically and computing power, all successive image processing procedures that described step S302 can be started, be placed on telepilot end or mobile client realizes.Now, unmanned vehicle only needs the basic image data be collected and described sample photo to send to image processing apparatus via suitable approach, and image processing apparatus can complete splicing and the generation of distant view photograph automatically according to pre-set programs.In this case, on unmanned vehicle, required realizing of task less, more succinctly, and its corresponding flight needs the load of carrying also to reduce further, enhances flying quality and the cruising time of unmanned vehicle.
For example, user drives in U.S.'s free walker tourism, the view that a place is delithted with is found in U.S. Yellowstone, simply can handle unmanned vehicle completely and fly to the arbitrary orientation oneself liked, then determine that beginning one key pans picture mode, then can, without the need to any additional operations, distant view photograph to be generated be waited to be sent on the cell-phone customer terminal of oneself binding.
The embodiment of the present invention, for above-mentioned discrete step, sums up its demand and rule, integratedly becomes a kind of fixing function, for user, the operation completed originally needing multistep, becomes the available function of a key, significant increase Consumer's Experience.
A kind ofly disclosed in the embodiment of the present invention utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, take full advantage of unmanned vehicle aloft find a view shooting, to carry out taking pictures processing the possibility obtaining distant view photograph, the function taken by distant view photograph, process, shared is carried out integrated, the step of dispersion is become practical function.After user have selected suitable spot for photography, follow-up unmanned vehicle hovering, the work such as the process of view data, the generation of distant view photograph that The Cloud Terrace is found a view around rotating, camera lens completes shooting in suitable angle, gathers, all complete via automated manner, greatly save the running cost of user.For user, originally went for pan-shot photo, and needed to manipulate unmanned vehicle flight respectively, manipulation The Cloud Terrace moves, manipulate camera shooting, then also will derive photo, process, be transferred to and suitable share software, the displaying that then could realize content of shooting with show off.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment four, a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph.
Fig. 4 be the embodiment of the present invention four utilize unmanned vehicle to take photo by plane automatically to generate the method flow diagram of distant view photograph, composition graphs 4 is specifically described by the embodiment of the present invention.
As shown in Figure 4, embodiments provide and a kind ofly utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, comprise the following steps:
Step S401: unmanned vehicle flies appointed place;
Concrete, be equipped with many rotor unmanned aircrafts of camera, via control realization the moving freely within the scope of the axle of space six of telepilot, described many rotor unmanned aircrafts are under the telecommand or the control of telecommand that prestores of real-time reception, the place that flight considers appropriate to user, comprises the geographic coordinate of user appointed place, shooting height here.
Step S402: unmanned vehicle enters floating state;
Step S403: described unmanned vehicle starts image acquisition;
In embodiments of the present invention, image acquisition is carried out according to predetermined screening-mode.Described predetermined screening-mode comprises ball-type panorama photographing mode, column type panorama photographing mode.Such as according to predetermined time interval, carry out at cradle head control camera in the process of 360 degree of rotations, implement photograph taking; Typically, such as 4 photos are taken respectively at 0 degree, 90 degree, 180 degree, 270 degree.
Step S404: the sample photo of collection is carried out Image semantic classification;
In embodiments of the present invention, described sample photo is numbered according to sequential, then implements the pre-service that distant view photograph generates.
Step S405: image registration is carried out to the image to be spliced after Image semantic classification;
Step S406: the sample photo after image registration being mated carries out image co-registration;
Step S407: distant view photograph generates;
Concrete, all sample photos in scene are spliced after fusion completes successively, just generates the complete distant view photograph that a width comprises all information of viewpoint.
Step S408: judge whether to share described distant view photograph, if so, jump to step S410; Otherwise, jump to step S409;
Step S409: store described distant view photograph;
Step S410: described distant view photograph is sent to the terminal of specifying;
Step S411: terminate.
In embodiments of the present invention, about the process of images share, both can be after unmanned vehicle place completes all image processing work, last finished product and distant view photograph had directly wirelessly been shared the user terminal of specifying by unmanned vehicle; Equally, also can be that unmanned vehicle only completes the work of sample photo acquisition, then be transferred to by image processing work the image processor arranged separately to realize, and realize images share subsequently through appropriate ways.
Preferred in the embodiment of the present invention, visual angle due to conventional camera lens is approximately 90 degree, a photo can not show enough large scene information, rotating lens is utilized to collect sample image containing the region that overlaps, by matching algorithm, registration, blending algorithm abatement vestige are carried out to it, finally form the seamless panorama photo of a width Large visual angle.
Because image to be matched is not a direction shooting, so can produces angle during projection, projective transformation must be carried out to it, to be transformed into same projected coordinate system, also need after projection transform completes its backwards projection, form planar view picture so that observe.Have employed cylindrical surface projecting model and spherical projection model in the embodiment of the present invention, correspond to described column type panorama photographing mode and described ball-type panorama photographing mode respectively.
Described cylinder orthogonal projection algorithm is mapped on cylinder model by image raw information, observe viewpoint be positioned on right cylinder internal rotating axle certain a bit, the duplicate message on real image can be eliminated like this, get back and often open the concrete orientation of concrete pixel in whole space.Cylinder panoramic image is relatively easy, the face of cylinder is deployed in plane vertically, but it does not comprise the scene information on above-below direction, intactly can not give expression to scene.Spherical projection model avoids the shortcoming of insufficient space, it not only can be complete performance panoramic space, can search for and reflect directive scene in space, and it only can represent any point on image under independently spherical coordinate system with position angle and the angle of pitch, can well complete intercepting work during storage and the roaming of image, this is the benefit utilizing spherical projection model maximum.
A kind ofly disclosed in the embodiment of the present invention utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, take full advantage of unmanned vehicle aloft find a view shooting, to carry out taking pictures processing the possibility obtaining distant view photograph, the function taken by distant view photograph, process, shared is carried out integrated, the step of dispersion is become practical function.After user have selected suitable spot for photography, follow-up unmanned vehicle hovering, the work such as the process of view data, the generation of distant view photograph that The Cloud Terrace is found a view around rotating, camera lens completes shooting in suitable angle, gathers, all complete via automated manner, greatly save the running cost of user.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
The present invention can bring these useful technique effects: utilize unmanned vehicle to take photo by plane disclosed in the embodiment of the present invention and automatically generate the system and method for distant view photograph, when adopting unmanned vehicle to carry out taking photo by plane, the mode of being carried camera by The Cloud Terrace is taken, can realize the shooting at 360 degree of angles very easily, namely The Cloud Terrace is from circling and carrying out taking the material that just can obtain being very suitable for converting to distant view photograph.And the distant view photograph of angle of taking photo by plane, landforms that can be complete from reflection fabulous in the air.Relative to conventional panoramic shooting, revolve turn around if people lifts camera, the instability of shooting easily occurs, and adopts the mode that unmanned vehicle The Cloud Terrace rotates, even without tripod, also better to complete photographic material acquisition; And distant view photograph of taking photo by plane, solves the physical restriction to pan-shot ground, even want to realize pan-shot from lake surface or outside steep cliff, also no problem; In addition, the present invention is also integrated with generation and the sharing function of distant view photograph, can user-friendly with share.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. one kind utilizes unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, comprise unmanned vehicle, image collecting device, communicator, described image collecting device is equipped on described unmanned vehicle, it is characterized in that: also comprise control device and distant view photograph acquisition device, described communicator connects described unmanned vehicle, described control device and described distant view photograph acquisition device, wherein
Described control device is applicable to performance parameter according to described image collecting device, photographing request, shooting environmental are selected predetermined screening-mode, and by described communicator, steering order be sent to described unmanned vehicle;
Described unmanned vehicle is applicable to perform flight and task of taking photo by plane under described steering order;
Described image collecting device is applicable to carry out image acquisition according to described predetermined screening-mode, obtains the sample photo containing the region that overlaps of predetermined number, by described communicator, described sample photo is sent to described distant view photograph acquisition device;
Described distant view photograph acquisition device is applicable to select corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, exports distant view photograph.
2. according to claim 1ly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, it is characterized in that: described unmanned vehicle is multi-rotor aerocraft, it is applicable to rotary taking three-dimensional samples photo under floating state.
3. according to claim 1ly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, it is characterized in that: also comprise distant view photograph sharing apparatus, the terminal of specifying shared by its distant view photograph be applicable to described distant view photograph acquisition device exports by wireless or wired mode.
4. utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, it is characterized in that: described predetermined screening-mode comprises ball-type panorama photographing mode and column type panorama photographing mode according to claim 1 or 3, wherein,
Described column type panorama photographing mode refer to the observation viewpoint of described image collecting device be positioned on right cylinder internal rotating axle a bit, described sample photographic intelligence is mapped on cylinder model;
Described ball-type panorama photographing mode refers to that viewpoint at described image collecting device is with observation that is arbitrarily angled, any direction, synthesizes on described sample photographic projection to Sphere Measurement Model.
5. according to claim 4ly utilize unmanned vehicle to take photo by plane automatically to generate the system of distant view photograph, it is characterized in that: described distant view photograph acquisition device comprises image pre-processing module, image registration module, image co-registration module, described image registration module connects described image pre-processing module and described image co-registration module respectively, wherein
Described image pre-processing module comprises geometric distortion correction unit and restraint speckle dot element, described geometric distortion correction unit is applicable to the source founding mathematical models finding out image fault from described sample photo, the shape of target and locus in Recovery image, described restraint speckle dot element is applicable to adopt frequency domain filtering or medium filtering restraint speckle;
Described image registration module is applicable to, to the image zooming-out characteristic information to be spliced through described image pre-processing module process, be integrated by described characteristic information, calculate splicing parameter, according to described splicing parameter to images match;
Described image co-registration module is applicable in addition automatic analysis, the optimal combination of the image after described image registration module coupling splice, eliminates splicing line, generation distant view photograph.
6. utilize unmanned vehicle to take photo by plane and automatically generate a method for distant view photograph, described unmanned vehicle is equipped with image collecting device, and the method comprises the following steps:
Automatic generation distant view photograph task initialization;
Predetermined screening-mode is selected according to the performance parameter of image collecting device, photographing request, shooting environmental;
Described unmanned vehicle carries out image acquisition according to predetermined screening-mode, obtains the sample photo containing the region that overlaps of predetermined number;
Select corresponding image processing algorithm automatically to process described sample photo, generate distant view photograph.
7. according to claim 6ly utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, it is characterized in that: also comprise and share step, shared the terminal of specifying by described distant view photograph by wireless or wired mode.
8. utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, it is characterized in that: described predetermined screening-mode comprises ball-type panorama photographing mode and column type panorama photographing mode according to claim 6 or 7, wherein,
Described column type panorama photographing mode refer to the observation viewpoint of described image collecting device be positioned on right cylinder internal rotating axle a bit, described sample photographic intelligence is mapped on cylinder model;
Described ball-type panorama photographing mode refers to that viewpoint at described image collecting device is with observation that is arbitrarily angled, any direction, synthesizes on described sample photographic projection to Sphere Measurement Model.
9. according to claim 8ly utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, it is characterized in that: the corresponding image processing algorithm of described selection processes automatically to described sample photo, generate the step of distant view photograph, specifically comprise the following steps:
Image semantic classification is carried out to described sample photo, described Image semantic classification comprises geometric distortion correction and restraint speckle point further, described geometric distortion correction refers to the source founding mathematical models by finding out image fault from described sample photo, the shape of target and locus in Recovery image, described restraint speckle point refers to and adopts frequency domain filtering or medium filtering restraint speckle;
Carry out image registration to the image to be spliced through described Image semantic classification, described image configurations refers to characteristic information extraction, is integrated by described characteristic information, calculates splicing parameter, according to described splicing parameter to images match;
Spliced image will be mated through described image registration and carry out image co-registration, eliminate splicing line, generate distant view photograph.
10. according to claim 8 or claim 9 utilize unmanned vehicle to take photo by plane automatically to generate the method for distant view photograph, it is characterized in that: described automatic generation distant view photograph task initialization comprises the following steps:
Described unmanned vehicle flies and arrives appointed place under steering order;
Rotary taking state is entered after described unmanned vehicle hovering.
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