WO2019090473A1 - Display method and system for panoramic image, and processing method and ground station for panoramic image - Google Patents

Abstract

Provided by an embodiment of the present invention is a display method for a panoramic image, used for displaying a panoramic image captured by an unmanned aerial vehicle, the method comprising the following steps: transmitting panoramic display material which is captured by a photographing device of an unmanned aerial vehicle to a ground station (S11); the ground station carrying out panoramic image processing on the basis of the panoramic display material received from the photographing device so as to obtain a panoramic image (S12); and a panoramic display device used for panoramic display receiving and displaying the panoramic image (S13).

Description

Panoramic image display method and system, panoramic image processing method and ground station Technical field

The present invention relates to a panoramic image display method and system for a drone, a panoramic image processing method, and a ground station.

Background technique

With the expansion of the field of panoramic image applications, more and more fields can be used for panoramic images, and scenes that need to synthesize panoramic images are also increasing.

In the current rapidly developing field of drones, there have been display systems that take panoramic images and send them to the ground through drones, such as somatosensory control FPV glasses (GOGGLES), so that the wearer can experience immersive operation. .

However, the panoramic video or the panoramic photo is spliced and synthesized by a plurality of video frames/several photos, and the image splicing algorithm includes coordinate transformation, projection transformation, distortion correction, matching point selection, image splicing, etc., and the entire algorithm process requires a large amount of processes. On the other hand, small drones, especially those that meet less than 250g in the future, may not have the corresponding computing power, or it is difficult to achieve real-time performance. Similarly, the ground-end FPV glasses also have the need for lightweight, and hope to minimize the weight of the device, reduce computing resources, reduce power consumption, and reduce the battery. This means that the panoramic video or panoramic photo taken by the aerial drone lacks real-time calculation. Resources to complete the image stitching function.

In contrast, the prior art generally performs the splicing work of the panoramic video/image on the shooting end (such as a drone) or the display end (such as FPV glasses), which requires the real-time computing capability of the camera or the glasses at the time of design. It is not conducive to the power consumption, heat dissipation, weight and other design indicators of the device; in addition, adding the computing chip to the UAV or FPV glasses will also increase the weight and volume of the UAV or FPV glasses, which is not conducive to drones or Lightweight FPV glasses.

In another solution, the real-time nature of the splicing work is not pursued, and the splicing work is performed after the shooting is imported into the mobile phone or the PC. In this way, the user must complete the entire shooting process after the specific device. In order to see the previously completed work, the live experience of the panoramic video/panoramic photo is greatly weakened, and the unsatisfactory works cannot be retaken or corrected on the spot.

Summary of the invention

The embodiment of the present invention is based on the above problems of the prior art, and provides a panoramic image display method and system, a panoramic image processing method, a ground station, and a recording medium, which can facilitate volume, weight, heat dissipation of the shooting end and the display end. Power consumption and other designs.

A first aspect of the present invention provides a panoramic image display method for displaying a panoramic image captured by a drone, comprising the steps of: transmitting a panoramic display material captured by a camera of a drone to a ground station; The ground station performs panoramic image processing based on the panoramic display material received from the photographing device to obtain a panoramic image; and the panoramic display device for performing panoramic display receives and displays the panoramic image.

A second aspect of the present invention provides a panoramic image display system for displaying a panoramic image captured by a drone, including: a drone, a ground station, and a panoramic display device, the drone being to be operated by a drone The panoramic display material captured by the photographing device is transmitted to the ground station, and the ground station performs panoramic image processing based on the panoramic display material received from the drone to obtain a panoramic image, the panoramic display device, The panoramic image is received and displayed from the ground station.

A third aspect of the present invention provides a panoramic image processing method for a ground station for processing a panoramic image captured by a drone, comprising the steps of: receiving a panoramic display material captured by a drone; and displaying the panoramic display The material is subjected to panoramic image processing to obtain a panoramic image; the panoramic image is transmitted to a panoramic display device.

A fourth aspect of the present invention provides a ground station for processing a panoramic image captured by a drone, comprising: a receiving unit that receives a panoramic display material captured by the drone; and a panoramic image processing unit that views the panoramic view The display material is subjected to panoramic image processing to obtain a panoramic image; and a transmitting unit that transmits the panoramic image to a panoramic display device.

A fifth aspect of the present invention provides a recording medium having a program for causing a ground station that processes a panoramic image captured by a drone to perform the following steps: receiving a panoramic display material captured by the drone; The panoramic display material is subjected to panoramic image processing to obtain a panoramic image; the panoramic image is transmitted to a panoramic display device.

According to the solution of the above various aspects of the invention, by generating a panoramic display image or video A large amount of computing needs are transferred to ground stations (including local devices or cloud devices on the ground) to facilitate the design of volume, weight, heat dissipation, power consumption, etc. of camera devices (such as drones) and panoramic display devices (such as FPV glasses). .

In addition, although the communication link is longer than the direct transmission, it can guarantee considerable real-time performance compared to offline splicing, and can bring a good user experience.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. One of ordinary skill in the art can also obtain other drawings based on these drawings without paying for inventive labor.

FIG. 1 is a schematic diagram showing a panoramic image display system 1 according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing the ground station 102 in the panoramic image display system 1 of the first embodiment.

3 is a flowchart showing a panoramic image display method used in the panoramic image display system 1 according to the first embodiment of the present invention.

FIG. 4 is a schematic diagram showing a panoramic image display system 2 according to a second embodiment of the present invention.

FIG. 5 is a block diagram showing a ground station 202 in the panoramic image display system 2 according to the second embodiment of the present invention.

FIG. 6 is a flowchart showing a panoramic image display method used in the panoramic image display system 2 according to the second embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described in conjunction with the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. In the description of the invention herein The terminology used is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

First embodiment

FIG. 1 is a schematic diagram showing a panoramic image display system 1 according to a first embodiment of the present invention.

The panoramic image display system 1 of the first embodiment includes a drone 101, a ground station 102, and a panoramic display device 103.

Here, although the panoramic image display system based on the drone 101 is taken as an example, it may be a panoramic image display system based on any imaging device that needs to realize weight reduction.

The drone 101 includes a photographing device. The photographing apparatus may have a single photographing unit that changes the photographing angle by rotating, moving, or the like to acquire panoramic display materials of different angles. In addition, the photographing apparatus may also have a plurality of photographing units while photographing a plurality of panoramic display materials for different angles.

The panoramic display material described in the present specification is a material for generating a panoramic display image by panoramic image processing, and may be a picture or a video, or a combination of a picture and a video.

FIG. 2 is a block diagram showing the ground station 102. As shown in FIG. 2, the ground station in the present embodiment includes a receiving unit 1021, a panoramic image processing unit 1022, and a transmitting unit 1023.

The receiving unit 1021 receives the panoramic display material captured by the drone 101.

The panoramic image processing unit 1022 performs panoramic image processing on the panoramic display material to obtain a panoramic image.

The transmitting unit 1023 transmits the panoramic image to the panoramic display device 103.

The ground station 102 is a control device that controls the operation of the drone 101, such as a remote controller. However, the present invention is not limited thereto. In other embodiments, the ground station 102 may be a mobile terminal or a combination of a mobile terminal and a remote controller. The receiving unit 1021, the panoramic image processing unit 1022, and the transmitting unit 1023 may be arbitrarily distributed in respective parts constituting the ground station 102 as long as they are included in the ground station. For example, the receiving unit 1021 and the transmitting unit 1023 are disposed in the remote controller. The panoramic image processing unit 1022 is provided on the mobile terminal.

In addition, the mobile terminal referred to in this specification may be a smart phone, a tablet, or a pen. Any one of a notebook, a PDA, a PC, and the like.

The ground station 102 acquires the panoramic display material captured by the drone 101 from the drone 101. The manner of obtaining is not limited, and the ground station 102 can directly obtain the panoramic display material from the drone 101, or can obtain the panoramic display material through the relay of other devices.

The panoramic display device 103 is, for example, an FPV (First Person View) glasses that displays contents captured by the drone 101. However, the present disclosure is not limited thereto, and the panoramic display device 103 may be any type of display device that displays content captured by the drone 101, such as a wearable display device, a display, a projection device, or the like, or may be a ground station 102. The display that is available.

3 is a flowchart showing a panoramic image display method used in the panoramic image display system 1 according to the first embodiment of the present invention.

In step S11, the panoramic display material captured by the imaging device of the drone 101 is transmitted to the ground station 102.

Here, the drone 101 may directly transmit the panoramic display material to the ground station 102 point-to-point, or may transmit the panoramic display material to the ground station 102 via other devices such as a hotspot, a communication network, or a relay station. The panoramic display material described herein refers to a plurality of images or videos to be spliced into a panoramic image taken by the camera of the drone 101.

Here, before the drone 101 transmits the captured panoramic display material to the ground station 102, predetermined image processing such as distortion correction processing, noise reduction processing, white balance correction processing, exposure compensation processing, or the like may be performed in advance. At least any one.

Through the distortion correction processing, the misalignment between the non-human-generated panoramic display materials caused by the distortion is eliminated, and the panoramic display material is more favorable for registration during the panoramic stitching, thereby avoiding the problem that the panoramic stitching is prone to poor stitching effect.

By the noise reduction process, the undesired noise in the panoramic display material is eliminated, so that the panoramic display image generated after the panorama stitching described later is clearer. The distortion correction algorithm may be a corner distortion correction algorithm based on feature points, a corner distortion correction based on gray interpolation, and the like.

The white balance correction processing, the exposure compensation processing, and the like can make the display effect of the panoramic display material better.

These processes can be processed in any of the prior art, and their order, degree, and the like can be changed according to actual needs. In addition, the image processing described above is not limited to being implemented by the drone 101. Alternatively, it can be implemented by the ground station 102.

Optionally, the drone 101 compression-codes the captured panoramic display material. Here, for compression coding of the panoramic display material, any compression coding in the prior art can be used. For example, for the image, any one of BMP, PCX, TIFF, GIF, JPEG, JPEG2000, or the like can be used. For the video, any of the MPEG series and the H.26X series (H.263, H.264/AVC) can be used.

In step S12, the ground station 102 performs panoramic image processing based on the panoramic display material received from the drone 101 to obtain a panoramic display image.

In the present embodiment, in the panoramic image processing, a panoramic display image is generated by performing panoramic stitching on the panoramic display material.

Alternatively, in a case where the panoramic display material received from the drone 101 is subjected to compression encoding, the panoramic splicing is performed after decompressing the same, and a panoramic display image is generated.

As a specific manner of panoramic stitching, any method in the prior art can be used, for example, the following method can be used:

1. Phase-based method

The method first transforms the image by using Fourier transform, wavelet transform, etc., and then uses some features of the transformed image to match.

2, stream-based approach

Also called the area based method. This method finds the best matching point by comparing the brightness (or color) of the two images and minimizing them.

3. Feature-based approach

The main idea of the method is to extract certain features from an image, such as points, lines, edges, etc., and use this feature as a matching template to search in the second image.

Optionally, the ground station 103 performs compression encoding on the generated panoramic display image. Here, the compression coding method may be the same as or different from the compression coding method implemented on the above-described drone 101, and an appropriate compression coding method may be used depending on the transmission protocol and transmission method used for transmission.

At step S13, the panoramic display device 103 receives and displays the panoramic display image obtained by the ground station 102 from the ground station 102.

Here, the panoramic display device 103 can receive the panoramic display image directly from the ground station 102, The panoramic display image may also be received from the ground station 102 via other devices, such as hotspots, communication networks, relay stations. In particular, the panoramic display device 103 can receive a panoramic display image from the ground station 102 via the drone 101.

Alternatively, when the panoramic display image received from the ground station 102 is compression-encoded, it is decompressed and displayed.

Optionally, the drone 101, the ground station 102, and the panoramic display device 103 are connected by wireless. As a wireless connection, you can use any connection method such as Wifi, Lightbridge, Ocusync, public mobile network, WiMAX.

According to the first embodiment of the present invention, a large amount of computational requirements for panoramic stitching are transferred to the ground station 102 other than the drone 101 and the panoramic display device 103, thereby facilitating the size, weight, and size of the drone 101 and the panoramic display device 103. Designs such as heat dissipation and power consumption can reduce the cost corresponding to computing requirements.

Second embodiment

FIG. 4 is a schematic diagram showing a panoramic image display system 2 according to a second embodiment of the present invention. The panoramic image display system 2 of the second embodiment differs from the panoramic image display system of the first embodiment in that the ground station 102 is replaced by the ground station 202. In the following, the differences between the second embodiment and the first embodiment will be mainly described, and the same portions will be denoted by the same reference numerals and will not be described. Further, various modifications of the first embodiment can be equally applied to the second embodiment, and will not be repeated here.

The panoramic image display system 2 of the second embodiment includes a drone 101, a ground station 202, and a panoramic display device 103.

FIG. 5 is a block diagram showing the ground station 202. As shown in FIG. 2, the ground station 202 in the present embodiment includes two parts: a control device and an arithmetic device.

The control device is a portion that controls the operation of the drone 101, and includes a receiving unit 2021 and a transmitting unit 2023. The control device is, for example, a remote controller, a mobile terminal, or a combination thereof. The receiving unit 2021 and the transmitting unit 2023 may be arbitrarily distributed in the respective components constituting the control device as long as they are included in the control device in the ground station 202.

The arithmetic unit is a part that performs calculation of a large amount of calculation in the ground station 202, and includes a panoramic image processing unit 2022. The computing device can be a local server or set up in the cloud via a network connection. Cloud server.

Similarly to the receiving unit 1021 in the first embodiment, the receiving unit 2021 receives the panoramic display material captured by the drone 101.

Similarly to the panoramic image processing unit 1022 in the first embodiment, the panoramic image processing unit 2022 performs panoramic image processing on the panoramic display material to obtain a panoramic image.

Similarly to the transmitting unit 1023 in the first embodiment, the transmitting unit 2023 transmits the panoramic image to the panoramic display device 103.

The panoramic display device 103 is, for example, an FPV (First Person View) glasses that displays contents captured by the drone 101. However, the present disclosure is not limited thereto, and the panoramic display device 103 may be any type of display device that displays content captured by the drone 101, such as a wearable display device, a display, a projection device, or the like, or may be a ground station 102. A control device or a display provided in the arithmetic device.

FIG. 6 is a flowchart showing a panoramic image display method used in the panoramic image display system 2 according to the second embodiment of the present invention. Each of the optional changes in the flow of the first embodiment can be applied to the process of the second embodiment as long as no conflict occurs, and is not repeated here. Only the difference from the flow of the first embodiment is mainly described. .

At step S21, the panoramic display material captured by the drone 101 is transmitted to the ground station 202.

Optionally, the drone 101 compresses and encodes the captured panoramic display material and transmits it to the ground station 102. Here, for compression coding of the panoramic display material, any compression coding in the prior art can be used. For example, for the image, any one of BMP, PCX, TIFF, GIF, JPEG, JPEG2000, or the like can be used. For the video, any of the MPEG series and the H.26X series (H.263, H.264/AVC) can be used.

In step S22, the control device in the ground station 202 forwards the panoramic display material received from the drone 101 to the arithmetic device.

Alternatively, when the panoramic display material received by the control device in the ground station 202 from the drone 101 is compression-encoded, the compression coding is not decompressed and directly forwarded to the arithmetic device.

In step S23, the arithmetic unit performs panoramic image processing on the panoramic display material received from the control device to generate a panoramic display image.

Optionally, the server 204 compression encodes the generated panoramic display image. Here, the compression coding method may be the same as or different from the compression coding method implemented by the above-described drone 101, and an appropriate compression coding method may be used depending on the transmission protocol and transmission method used in the transmission.

Here, the forwarding may be to directly transfer the panoramic display material from the control device to the computing device point-to-point, or to transmit the panoramic display material to the computing device via other devices, such as a hotspot, a communication network, or a relay station.

Optionally, the control device in the ground station 202 is connected to the computing device by wire or wirelessly.

At step S24, the panoramic display device 103 receives and displays the panoramic display image from the ground station 202.

Here, the panoramic display device 103 may receive the panoramic display image directly from the ground station 102, or may receive the panoramic display image from the ground station 102 via other devices, such as hotspots, communication networks, relay stations.

According to the second embodiment of the present invention, not only a large amount of computational demand such as panoramic image processing is transferred to the ground station 202 other than the drone 101 and the panoramic display device 103, but also to the control device other than the ground station 202. In the independent arithmetic device, the design of the size, weight, heat dissipation, power consumption, and the like of the control device of the drone 101, the ground station 202, and the panoramic display device 103 is facilitated, and the cost corresponding to the calculation requirement can be reduced.

The invention has been described above in several embodiments. However, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the device implementations described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. You can choose which one according to your actual needs. Some or all of the units implement the objectives of the embodiments of the present invention.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

It should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (69)

A panoramic image display method for displaying a panoramic image taken by a drone, comprising the following steps: Transmitting the panoramic display material captured by the camera of the drone to the ground station; The ground station performs panoramic image processing based on the panoramic display material received from the photographing device to obtain a panoramic image; The panoramic display device for performing panoramic display receives and displays the panoramic image. The panoramic image display method according to claim 1, wherein: The panoramic display material is at least one of a photo, a video, or a mixture thereof for generating the panoramic image. The panoramic image display method according to claim 1, wherein: The method further includes the step of the image forming device performing distortion correction processing on the captured panoramic display material, and at least one of image processing of the noise reduction processing, the white balance correction processing, and the exposure compensation processing, and transmitting the image to the ground station. The panoramic image display method according to claim 1 or 3, wherein: The method further includes the step of compressing and encoding the panoramic display material by the photographing device. The panoramic image display method according to claim 1, wherein: The panoramic image processing is a panoramic image stitching process implemented by any one of a phase based method, a stream based method, or a feature based method. The panoramic image display method according to claim 1, wherein: The method further includes the step of compressing and encoding the panoramic display image by the ground station. The panoramic image display method according to claim 1, wherein: The panoramic display device is a FPV glasses or a display of the ground station. The panoramic image display method according to claim 1, wherein: The ground station is a control device for performing operation control on the drone. The control device includes a remote controller, a mobile terminal, or a combination thereof. The panoramic image display method according to claim 8, wherein: The ground station further includes an arithmetic device connected to the control device via a network, The panoramic image processing is performed by the arithmetic device to obtain the panoramic display image. The panoramic image display method according to claim 9, wherein: The method further includes the step of the computing device compressing and encoding the panoramic display image. The panoramic image display method according to claim 10, wherein: The method further includes: the control device forwards the panoramic display material acquired from the imaging device to the computing device without decompression, and forwards the panoramic display image acquired from the computing device to the device without decompression The steps of the panoramic display device. The panoramic image display method according to any one of claims 4, 6, and 10, characterized in that: The compression coding is any one of BMP, PCX, TIFF, GIF, JPEG, JPEG2000, MPEG series, and H.26X series. The panoramic image display method according to claim 1, wherein: The drone, the ground station, and the panoramic display device are connected by wireless. The panoramic image display method according to claim 9, wherein: The control device and the computing device are connected by wire or wirelessly. The panoramic image display method according to claim 6 or 10, wherein: The panoramic display device displays the panoramic display image after decompressing it. The panoramic image display method according to claim 1, wherein: The panoramic display device receives the panoramic image from the ground station via the drone. The panoramic image display method according to claim 9, wherein: The computing device is a server located locally or in the cloud. A panoramic image display system for displaying panoramic images taken by a drone, including: a drone, a ground station, and a panoramic display device, The drone transmits the panoramic display material captured by the camera of the drone to the ground station. The ground station performs panoramic image processing based on the panoramic display material received from the drone to obtain a panoramic image. The panoramic display device receives and displays the panoramic image from the ground station. The panoramic image display method according to claim 18, wherein: The panoramic display material is at least one of a photo, a video, or a mixture thereof for generating the panoramic image. The panoramic image display method according to claim 18, wherein: The method further includes the step of the image forming device performing distortion correction processing on the captured panoramic display material, and at least one of image processing of the noise reduction processing, the white balance correction processing, and the exposure compensation processing, and transmitting the image to the ground station. A panoramic image display method according to claim 18 or 20, wherein: The method further includes the step of compressing and encoding the panoramic display material by the photographing device. The panoramic image display method according to claim 18, wherein: The panoramic image processing is by a phase based method, a stream based method or a feature based The panoramic image stitching process of any one of the methods is implemented. The panoramic image display method according to claim 18, wherein: The method further includes the step of compressing and encoding the panoramic display image by the ground station. The panoramic image display method according to claim 18, wherein: The panoramic display device is a FPV glasses or a display of the ground station. The panoramic image display method according to claim 18, wherein: The ground station is a control device for performing operation control on the drone. The control device includes a remote controller, a mobile terminal, or a combination thereof. A panoramic image display method according to claim 25, wherein: The ground station further includes an arithmetic device connected to the control device via a network, The panoramic image processing is performed by the arithmetic device to obtain the panoramic display image. The panoramic image display method according to claim 26, wherein: The method further includes the step of the computing device compressing and encoding the panoramic display image. The panoramic image display method according to claim 27, wherein: The method further includes: the control device forwards the panoramic display material acquired from the imaging device to the computing device without decompression, and forwards the panoramic display image acquired from the computing device to the device without decompression The steps of the panoramic display device. The panoramic image display method according to any one of claims 21, 23, 27, wherein: The compression coding is any one of BMP, PCX, TIFF, GIF, JPEG, JPEG2000, MPEG series, and H.26X series. The panoramic image display method according to claim 1, wherein: The drone, the ground station, and the panoramic display device are connected by wireless. The panoramic image display method according to claim 26, wherein: The control device and the computing device are connected by wire or wirelessly. A panoramic image display method according to claim 23 or 27, wherein: The panoramic display device displays the panoramic display image after decompressing it. The panoramic image display method according to claim 18, wherein: The panoramic display device receives the panoramic image from the ground station via the drone. The panoramic image display method according to claim 26, wherein: The computing device is a server located locally or in the cloud. A panoramic image processing method for a ground station for processing a panoramic image taken by a drone includes the following steps: Receiving panoramic display material captured by the drone; Performing panoramic image processing on the panoramic display material to obtain a panoramic image; The panoramic image is transmitted to a panoramic display device. A panoramic image display method according to claim 35, wherein: The panoramic display material is at least one of a photo, a video, or a mixture thereof for generating the panoramic image. A panoramic image display method according to claim 35, wherein: The method further includes the step of the image forming device performing distortion correction processing on the captured panoramic display material, and at least one of image processing of the noise reduction processing, the white balance correction processing, and the exposure compensation processing, and transmitting the image to the ground station. A panoramic image display method according to claim 35 or 37, wherein: The method further includes the step of compressing and encoding the panoramic display material by the photographing device. A panoramic image display method according to claim 35, wherein: The panoramic image processing is a panoramic image stitching process implemented by any one of a phase based method, a stream based method, or a feature based method. A panoramic image display method according to claim 35, wherein: The method further includes the step of compressing and encoding the panoramic display image by the ground station. A panoramic image display method according to claim 35, wherein: The panoramic display device is a FPV glasses or a display of the ground station. A panoramic image display method according to claim 35, wherein: The ground station is a control device for performing operation control on the drone. The control device includes a remote controller, a mobile terminal, or a combination thereof. A panoramic image display method according to claim 42, wherein: The ground station further includes an arithmetic device connected to the control device via a network, The panoramic image processing is performed by the arithmetic device to obtain the panoramic display image. A panoramic image display method according to claim 43, wherein: The method further includes the step of the computing device compressing and encoding the panoramic display image. A panoramic image display method according to claim 44, wherein: The method further includes: the control device forwards the panoramic display material acquired from the imaging device to the computing device without decompression, and forwards the panoramic display image acquired from the computing device to the device without decompression The steps of the panoramic display device. The panoramic image display method according to any one of claims 38, 40, and 44, It is characterized by: The compression coding is any one of BMP, PCX, TIFF, GIF, JPEG, JPEG2000, MPEG series, and H.26X series. A panoramic image display method according to claim 35, wherein: The drone, the ground station, and the panoramic display device are connected by wireless. A panoramic image display method according to claim 43, wherein: The control device and the computing device are connected by wire or wirelessly. A panoramic image display method according to claim 40 or 44, wherein: The panoramic display device displays the panoramic display image after decompressing it. A panoramic image display method according to claim 35, wherein: The panoramic display device receives the panoramic image from the ground station via the drone. A panoramic image display method according to claim 43, wherein: The computing device is a server located locally or in the cloud. A ground station for processing panoramic images taken by drones, including: a receiving unit that receives the panoramic display material captured by the drone; a panoramic image processing unit that performs panoramic image processing on the panoramic display material to obtain a panoramic image; and The transmitting unit transmits the panoramic image to a panoramic display device. A panoramic image display method according to claim 52, wherein: The panoramic display material is at least one of a photo, a video, or a mixture thereof for generating the panoramic image. A panoramic image display method according to claim 52, wherein: The method further includes the step of the image forming device performing distortion correction processing on the captured panoramic display material, and at least one of image processing of the noise reduction processing, the white balance correction processing, and the exposure compensation processing, and transmitting the image to the ground station. A panoramic image display method according to claim 52 or 54, wherein: The method further includes the step of compressing and encoding the panoramic display material by the photographing device. A panoramic image display method according to claim 52, wherein: The panoramic image processing is a panoramic image stitching process implemented by any one of a phase based method, a stream based method, or a feature based method. A panoramic image display method according to claim 52, wherein: The method further includes the step of compressing and encoding the panoramic display image by the ground station. A panoramic image display method according to claim 52, wherein: The panoramic display device is a FPV glasses or a display of the ground station. A panoramic image display method according to claim 52, wherein: The ground station is a control device for performing operation control on the drone. The control device includes a remote controller, a mobile terminal, or a combination thereof. A panoramic image display method according to claim 62, wherein: The ground station further includes an arithmetic device connected to the control device via a network, The panoramic image processing is performed by the arithmetic device to obtain the panoramic display image. A panoramic image display method according to claim 60, wherein: The method further includes the step of the computing device compressing and encoding the panoramic display image. A panoramic image display method according to claim 61, wherein: The method further includes: the control device forwards the panoramic display material acquired from the imaging device to the computing device without decompression, and forwards the panoramic display image acquired from the computing device to the device without decompression The steps of the panoramic display device. The panoramic image display method according to any one of claims 55, 57, 61, wherein: The compression coding is any one of BMP, PCX, TIFF, GIF, JPEG, JPEG2000, MPEG series, and H.26X series. A panoramic image display method according to claim 52, wherein: The drone, the ground station, and the panoramic display device are connected by wireless. A panoramic image display method according to claim 60, wherein: The control device and the computing device are connected by wire or wirelessly. A panoramic image display method according to claim 57 or 61, wherein: The panoramic display device displays the panoramic display image after decompressing it. A panoramic image display method according to claim 52, wherein: The panoramic display device receives the panoramic image from the ground station via the drone. A panoramic image display method according to claim 60, wherein: The computing device is a server located locally or in the cloud. A recording medium having a program for causing a ground station that processes a panoramic image taken by a drone to perform the following steps: Receiving panoramic display material captured by the drone; Performing panoramic image processing on the panoramic display material to obtain a panoramic image; The panoramic image is transmitted to a panoramic display device.

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