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WO2022021438A1 - Procédé de traitement d'images, procédé de commande d'images et dispositif associé - Google Patents

Procédé de traitement d'images, procédé de commande d'images et dispositif associé Download PDF

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Publication number
WO2022021438A1
WO2022021438A1 PCT/CN2020/106441 CN2020106441W WO2022021438A1 WO 2022021438 A1 WO2022021438 A1 WO 2022021438A1 CN 2020106441 W CN2020106441 W CN 2020106441W WO 2022021438 A1 WO2022021438 A1 WO 2022021438A1
Authority
WO
WIPO (PCT)
Prior art keywords
movable platform
frame rate
image frames
frames
processor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/106441
Other languages
English (en)
Chinese (zh)
Inventor
翁松伟
王笑宇
尹桂祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN202080034016.8A priority Critical patent/CN113841385A/zh
Priority to PCT/CN2020/106441 priority patent/WO2022021438A1/fr
Publication of WO2022021438A1 publication Critical patent/WO2022021438A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2621—Cameras specially adapted for the electronic generation of special effects during image pickup, e.g. digital cameras, camcorders, video cameras having integrated special effects capability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client 
    • H04N21/63—Control signaling related to video distribution between client, server and network components; Network processes for video distribution between server and clients or between remote clients, e.g. transmitting basic layer and enhancement layers over different transmission paths, setting up a peer-to-peer communication via Internet between remote STB's; Communication protocols; Addressing
    • H04N21/637—Control signals issued by the client directed to the server or network components
    • H04N21/6373—Control signals issued by the client directed to the server or network components for rate control, e.g. request to the server to modify its transmission rate
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to the technical field of image processing, and in particular, to an image processing method, an image control method and related equipment.
  • the traversing drone has advantages that other types of drones do not have. It can shoot narrow and hidden scenes in the case of high-speed movement. During the flight of the crossover aircraft, due to its high-speed characteristics, in some special scenes, such as fast-motion and slow-motion shooting, the effect will be unsatisfactory. If you want to get fast motion or slow motion, you can only manually adjust the fast and slow motion of these special scenes through post-editing software after the shooting. However, by manually adjusting these special shooting scenes by using post-editing software to obtain fast or slow motion, the efficiency is low, and the picture effect cannot be guaranteed. Therefore, it is very important to obtain fast or slow motion in these special scenes more efficiently.
  • Embodiments of the present invention provide an image processing method, an image control method, and related equipment.
  • an image processing method By intelligently adjusting the speed of an image captured by a photographing device during the movement of a movable platform, the image quality is improved on the basis of ensuring the image effect.
  • the processing efficiency satisfies the user's need for intelligent and automatic speed regulation of the images during the shooting process.
  • an embodiment of the present invention provides an image processing method, including:
  • the speed change processing is performed on the image frame shot at the first frame rate, and the preset condition includes that the scene shot by the photographing device conforms to the preset scene, and the camera equipped with the photographing device can be One or more of the movement posture of the mobile platform conforms to the preset posture, the current photographing time of the photographing device reaches the preset switching time, and the trigger instruction sent by the control terminal of the mobile platform is received;
  • Image frames obtained after the variable speed processing are stored.
  • an embodiment of the present invention provides an image control method, including:
  • an embodiment of the present invention provides an image processing device, including a memory, a processor, and a communication interface;
  • the memory for storing program instructions
  • the processor executes the program instructions stored in the memory, and when the program instructions are executed, the processor is configured to perform the following steps:
  • the speed change processing is performed on the image frame shot at the first frame rate, and the preset condition includes that the scene shot by the photographing device conforms to the preset scene, and the camera equipped with the photographing device can be One or more of the movement posture of the mobile platform conforms to the preset posture, the current photographing time of the photographing device reaches the preset switching time, and the trigger instruction sent by the control terminal of the mobile platform is received;
  • Image frames obtained after the variable speed processing are stored.
  • an embodiment of the present invention provides a control terminal, including a memory, a processor, and a communication interface;
  • the memory for storing program instructions
  • the processor executes the program instructions stored in the memory, and when the program instructions are executed, the processor is configured to perform the following steps:
  • the trigger instruction is sent to the movable platform equipped with the photographing device through the communication interface, the photographing device shoots according to the first frame rate, and the trigger instruction is used to instruct the movable platform to shoot the photographing device according to the first frame rate.
  • the captured image frame is processed at variable speed.
  • an embodiment of the present invention provides a movable platform, including:
  • a power system configured on the fuselage for providing the movable platform with moving power
  • Image processing equipment mounted on a movable platform
  • processor for:
  • the speed change processing is performed on the image frame shot at the first frame rate, and the preset condition includes that the scene shot by the photographing device conforms to the preset scene, and the camera equipped with the photographing device can be One or more of the movement posture of the mobile platform conforms to the preset posture, the current photographing time of the photographing device reaches the preset switching time, and the trigger instruction sent by the control terminal of the mobile platform is received;
  • Image frames obtained after the variable speed processing are stored.
  • an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the image processing method described in the first aspect above or The image control method described in the second aspect.
  • the image frames shot by the photographing device according to the first frame rate are subjected to variable speed processing, and the images obtained after the variable speed processing are stored.
  • the preset conditions include that the scene captured by the photographing device conforms to the preset scene, the moving posture of the movable platform equipped with the photographing device conforms to the preset posture, the current photographing time of the photographing device reaches the preset switching time, and the mobile platform is received.
  • One or more of the trigger instructions sent by the control terminal One or more of the trigger instructions sent by the control terminal.
  • FIG. 1 is a schematic structural diagram of an image processing system provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of an image processing method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a virtual pointing prompt for gap crossing provided by an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of an image control method provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of an image processing device provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • the embodiment of the present invention obtains the image frames captured by the camera mounted on the movable platform according to the first frame rate, and divides the obtained image frames of the first frame rate into two data processing channels, wherein, One channel of data is to transmit the acquired image frame of the first frame rate to the control terminal in real time, so that the control terminal transmits the image frame of the first frame rate to the image display device for display;
  • the intelligent variable speed processing is performed on the image frames of the first frame rate to perform frame rate conversion, and the image frames of the first frame rate are converted to fast-play or slow-play.
  • Image frames to improve the efficiency of image processing while ensuring the image effect.
  • the user can trigger the adjustment of the shooting frame rate, which is different from this application.
  • the method proposed in this application does not adjust the shooting frame rate.
  • the image frame is captured at the first frame rate, and the image frame captured at the first frame rate is divided into two data for processing without changing the shooting frame rate.
  • One data is the image obtained by shooting the first frame rate
  • the frame is sent to the control terminal, so that the control terminal transmits the image frame of the first frame rate to the image display device for display without changing the shooting frame rate.
  • the other way of data is to perform intelligent speed change processing on the image frames of the first frame rate obtained when it is recognized that the preset conditions are met, and store the image frames after the speed change processing in the storage device of the movable platform for the convenience of users.
  • you want to watch fast-playing or slow-playing videos you can directly download and view them from the storage device of the removable platform, without post-processing, which is simple and fast, and improves the user experience.
  • the image processing method provided by the embodiments of the present invention may be performed by an image processing system.
  • the image processing system includes a movable platform and a control terminal.
  • the movable platform includes, but is not limited to, unmanned aerial vehicles, unmanned vehicles, robots, and other movable devices; in some embodiments, the UAVs include traversing aircraft.
  • the control terminal includes, but is not limited to, one or more of a remote control device, a smart phone, a tablet computer, a laptop computer, and a wearable device.
  • a communication connection is established between the movable platform and the control terminal.
  • a photographing device eg, a camera
  • a photographing device is mounted on the movable platform.
  • the image processing method provided by the embodiments of the present invention may be applied to image shooting or video shooting when the movable platform passes through a preset scene.
  • the preset scene includes but is not limited to the existence of Scenarios such as obstacles or gaps.
  • the image processing system provided by the embodiment of the present invention is schematically described below with reference to FIG. 1 .
  • FIG. 1 is a schematic structural diagram of an image processing system provided by an embodiment of the present invention.
  • the image processing system includes: a movable platform 11 and a control terminal 12 .
  • a communication connection may be established between the movable platform 11 and the control terminal 12 through a wireless communication connection, wherein, in some scenarios, the movable platform 11 and the control terminal 12 may also be connected through
  • the wired communication connection method establishes the communication connection.
  • a photographing device 111 is mounted on the movable platform 11 , and in some embodiments, the photographing device 111 establishes a wired or wireless communication connection with the movable platform 11 .
  • control terminal 12 may include one or more of a remote control device, a smartphone, a tablet computer, a laptop computer, a wearable device, and the like.
  • the movable platform 11 includes, but is not limited to, one or more movable devices such as unmanned aerial vehicles, crossing aircraft, and unmanned vehicles.
  • the movable platform 11 is used to acquire the image frames captured by the photographing device 111 according to the first frame rate, and when it is recognized that the preset conditions are met, the variable speed processing is performed on the image frames captured according to the first frame rate, and The image frames obtained after the variable speed processing are stored, so as to realize the intelligent variable speed processing of the images captured by the photographing device during the movement of the movable platform 11, improve the accuracy of the intelligent speed regulation of the images, ensure the effect of the images, and satisfy the It meets the intelligent and automatic needs of users to adjust the speed of the images during the shooting process.
  • FIG. 2 is a schematic flowchart of an image processing method provided by an embodiment of the present invention.
  • the method can be executed by an image processing device, wherein the image processing device is set in a movable platform, and the The specific explanation of the movable platform is as described above.
  • the method in the embodiment of the present invention includes the following steps.
  • S201 Acquire an image frame captured by a capturing device according to a first frame rate.
  • the image processing device may acquire image frames captured by the capturing device according to the first frame rate.
  • the image processing device may acquire a video shooting instruction sent by the control terminal, where the video shooting instruction carries the first frame rate, and In response to the video shooting instruction, the shooting device is controlled to shoot the image frame according to the first frame rate during the movement of the movable platform.
  • the image processing device may send the image frames of the first frame rate to the control terminal in real time, so that the control terminal may send the image frames obtained in real time and captured by the photographing device at the first frame rate to the image display
  • the device displays the video generated by the image frames captured at the first frame rate in real time. In this way, the image frame of the first frame rate can be displayed by image transmission.
  • S202 When it is identified that a preset condition is met, perform variable speed processing on the image frame shot at the first frame rate, where the preset condition includes that the scene shot by the photographing device conforms to the preset scene, and the photographing device is mounted.
  • the moving posture of the movable platform conforms to the preset posture, the current photographing time of the photographing device reaches the preset switching time, and one or more of the trigger instructions sent by the control terminal of the mobile platform are received.
  • the image processing device may perform variable speed processing on the image frame captured at the first frame rate, and the preset condition includes that the scene captured by the photographing device meets the The preset scene, the moving posture of the movable platform carrying the photographing device conforms to the preset posture, the current photographing time of the photographing device reaches the preset switching time, and the trigger instruction sent by the control terminal of the mobile platform is received. one or more of.
  • the preset scene, the preset posture, and the preset switching time may be set by default in the movable platform. In some embodiments, the preset scene, the preset posture, and the preset switching time may be set by the user through the control terminal and sent to the movable platform.
  • the movable platform when it obtains one or more of the preset scene, the preset posture, and the preset switching time sent by the control terminal, it can identify whether the scene captured by the photographing device is the same as the obtained scene.
  • One or more of the preset scene, the preset posture, and the preset switching time sent by the control terminal match, and if they match, it is determined that the scene shot by the shooting device satisfies the preset condition.
  • the user can set preset conditions such as the preset scene, the preset posture, and the preset switching time through the control terminal in real time according to the user's needs.
  • the preset scene includes obstacles or gaps.
  • the obstacles may include but are not limited to walls, trees, wooden posts, etc.
  • the gaps may include but are not limited to Caves, windows, tunnels, etc.
  • the trigger instruction is used to instruct to perform variable speed processing on the image frames captured at the first frame rate.
  • the movement attitude of the movable platform may be determined according to the attitude angle of the movable platform. In an example, taking the UAV as an example, the flight attitude angle of the UAV includes the pitch angle, Roll angle, offset angle.
  • the preset switching time includes a start time node and an end time node, which are used to indicate the time period of the start time node and the end time node.
  • Image frames undergo variable speed processing.
  • the start time node and the end time node may be time nodes preset by the user that need to perform variable speed processing on the image frames captured at the first frame rate.
  • the image processing device can automatically enable the time corresponding to the recognition of the preset scene as the start time node, and when the preset scene is recognized At the end, the corresponding time is determined as the end time node. In this way, when the preset scene is recognized, the start time node and the end time node that need to perform variable speed processing on the image frames captured at the first frame rate can be automatically determined.
  • the image processing device may acquire the time node selection operation input by the user at any time during the process of capturing the image frame by the capturing device according to the first frame rate, and determine the start time node and the end time node according to the time node selection operation .
  • the start time node may be determined according to the time node selection operation obtained for the first time
  • the end time node may be determined according to the time node selection operation obtained for the second time.
  • the start time node and the end time node may also be determined by pressing a button or other methods, which are not specifically limited here. In this way, during the shooting process of the shooting device, the user can independently select the start time node and the end time node for performing variable speed processing on the image frames captured at the first frame rate according to the user's needs, so as to improve the user experience.
  • the image processing device when performing variable speed processing on the image frames captured at the first frame rate, may perform fast playback processing on the image frames captured at the first frame rate; Slow-motion processing is performed on the image frames captured at the first frame rate.
  • the image processing device may acquire the N frames of image frames captured at the first frame rate and the N frames captured at the first frame rate and the image frames captured at the first frame rate.
  • the first time for capturing N image frames at a rate, N is an integer greater than 0, and controlling the N image frames to be played within a second time, wherein the second time is less than the first time.
  • the image processing device may determine the fast playback multiple for performing fast playback processing on the N image frames according to the frame number N of the image frames, the first time and the second time.
  • the second time may be any preset time shorter than the first time.
  • the playback time of N frames of image frames captured at the first frame rate may be adjusted by a preset fast zoom factor or by the user sending the fast zoom factor to the movable platform by controlling the terminal.
  • the first frame rate is 60 frames/second
  • the first time for capturing 60 image frames is 1 second.
  • the fast-play processing can be realized by shortening the playback time.
  • the playback time is shortened to the second time of 0.5 seconds
  • the 60 images can be played within 0.5 seconds. It can be determined that the speed of playing the 60 image frames in 0.5 seconds is 2 times faster than that of playing 60 image frames in 1 second, so as to realize the fast playback processing of the image frames.
  • the fast playback processing of the image frames can be implemented in a manner of accelerating the frame rate.
  • the image processing device when performing fast playback processing on the image frames captured at the first frame rate, may further extract K frames of image frames from the N frames of image frames, and control the image frames to be displayed at the first frame rate.
  • the K frames of image frames are played within two time periods.
  • the image processing device may extract K image frames at a specified position from the N image frames.
  • the specified position may be pre-set according to N frames of image frames.
  • the specified position may be an image frame corresponding to the middle position of the N frames of image frames.
  • the frames may also be extracted at fixed intervals, for example, one frame is extracted every other frame.
  • the first frame rate is 60 frames/second
  • the first time for capturing 60 frames of image frames is 1 second.
  • the first time of 1 second can be shortened to the second time of 0.5 seconds, and the 60-frame image frames can be extracted one frame at an interval to retain 30 image frames, and the rest 30 frames are discarded, and the 30 image frames extracted from the 60 image frames are played within 0.5 seconds, so that the fast playback processing of the image frames can be further realized.
  • the image processing device may acquire the N frames of image frames captured at the first frame rate and the N frames captured at the first frame rate and the image frames captured at the first frame rate.
  • the first time at which N frames of image frames are captured at a rate, N is an integer greater than 0, and the N frames of image frames are controlled to be played within a third time, wherein the third time is greater than the first time.
  • the image processing device may determine the slow-play multiple for performing the slow-play processing on the N image frames according to the frame number N of the image frames, the first time, and the third time.
  • the third time may be any preset time greater than the first time.
  • the playback time of N frames of image frames captured at the first frame rate may be adjusted by a preset slow playback multiple or the user sending the slow playback multiple to the movable platform by controlling the terminal.
  • the first frame rate is 60 frames/second
  • the first time for capturing 60 frames of image frames is 1 second.
  • the first time of the playback time can be extended from 1 second to the third time of 2 seconds, and the 60-frame image frame can be played within 2 seconds, so that it can be determined that the playback time will be within 2 seconds.
  • the 60-frame image frame is 1 times slower than the playback speed of 60-frame image frame in 1 second, which realizes the slow-play processing of the image frame.
  • the slow-play processing of the image frames can be implemented in a manner of reducing the frame rate.
  • the image processing device when it performs slow-play processing on the image frames captured at the first frame rate, it may further determine M frames of prediction frames according to the N frames of image frames, and control the third The N frames of image frames and the M frames of predicted frames are played in time.
  • the number of the M-frame predicted frames may be determined according to the first frame rate, and the M-frame predicted frames are image frames obtained by interpolation using N image frames.
  • the method for calculating the interpolation value may be to obtain a new image frame interpolated between the two adjacent frames by weighting the pixels corresponding to the pixel points or pixel regions of the two adjacent image frames.
  • the first frame rate is 60 frames/second
  • the first time for capturing 60 frames of image frames is 1 second.
  • the first time of the playback time can be extended from 1 second to the third time of 2 seconds, and a similar 60-frame predicted frame can be interpolated according to the 60-frame image frame.
  • the 60 frames of image frames and the 60 frames of predicted frames are played in the video frame, so that the slow-play processing of the image frames can be realized.
  • the image processing device may determine to perform slow-motion processing on the image frame shot at the first frame rate, wherein the The scene captured by the photographing device satisfies the first preset conditions, including but not limited to the speed and attitude of the movable platform. During one or more operations such as the moment of maneuvering, it may be determined that the first preset condition is satisfied, and slow playback processing is performed on the image frames at the first frame rate.
  • the image processing device may determine to perform fast playback processing on the image frame shot at the first frame rate, wherein the The scene photographed by the photographing device satisfies the second preset condition, including but not limited to a flat scene, a large aerial scene, etc. For example, when it is recognized that the scene photographed by the photographing device is a flat lawn, it can be determined that the second preset condition is met, and the first The image frame of the frame rate is processed by fast playback.
  • the image processing device may determine to perform slow-play processing on the image frames captured at the first frame rate when detecting that the scene captured by the capturing device is a gap or an obstacle. Specifically, the image processing device may pre-fix the variable speed processing corresponding to the gap as the slow playback process. When the image processing device detects that the scene captured by the photographing device is a gap, it can perform the slow playback processing corresponding to the predetermined gap. Slow-motion processing is performed on the image frames captured at the first frame rate.
  • the image processing device may identify whether the scene captured by the photographing device is a gap through one or more of a visual sensor, an infrared device, a zoom device, and a preset terrain model.
  • the implementation process of the slow play process is as described above, and details are not repeated here.
  • the user may create a terrain model in a preset scene in advance, so that the movable platform can recognize the preset scene based on the preset terrain model.
  • the image processing device determines to perform fast playback processing on the image frames captured at the first frame rate when detecting that the scene captured by the capturing device does not include a gap or an obstacle. For example, when it is detected that the scene photographed by the photographing device is a lawn that does not include gaps or obstacles, it may be determined to perform fast playback processing on the image frames photographed at the first frame rate.
  • the implementation process of the fast playback process is as described above, which will not be repeated here.
  • the image processing device may also acquire a movement control command sent by the control terminal during the movement of the movable platform, where the movement control command carries the movement parameters corresponding to the user's movement parameter setting operation, and controls the movement control command.
  • the movable platform moves according to the movement parameter setting operation corresponding to the movement parameter.
  • the movement parameters include any one or more of a movement speed of the movable platform, an acceleration of the movable platform, and an attitude of the movable platform.
  • the movement control instruction is determined according to the user's movement parameter setting operation on the control terminal.
  • the image processing device may identify the scene shot by the photographing device, and when identifying that the scene photographed by the photographing device conforms to the preset scene, adjust the movable platform according to the preset scene. moving parameters, and controlling the movable platform to move according to the adjusted moving parameters.
  • the preset scene includes obstacles or voids.
  • the moving speed of the movable platform when it is recognized that the scene captured by the photographing device includes an obstacle or a gap, if the moving speed of the movable platform is too fast, it may collide with the obstacle or the gap.
  • the parameters are adjusted to help prevent the movable platform from colliding with obstacles or gaps, and improve the safety of the movable platform when traversing scenes including obstacles or gaps.
  • the image processing device may determine the corresponding relationship between the preset scene and the movement parameter according to the corresponding relationship between the preset scene and the movement parameter. movement parameters corresponding to the scene, and control the movable platform to move according to the movement parameters corresponding to the preset scene.
  • the preset scene includes a gap
  • the image processing device adjusts the movement parameters of the movable platform according to the preset scene, if it recognizes that the scene captured by the photographing device includes a gap, it can obtain the the size and/or depth of the gap in the preset scene, and adjust the movement parameters of the movable platform according to the size and/or depth of the gap, and control the movable platform to move according to the adjusted movement parameters , so that the movable platform traverses the gap.
  • the speed can be slowed down according to the size x and depth y of the circular void.
  • the moving speed of the movable platform and the acceleration of the movable platform are adjusted, and the posture of the movable platform is adjusted so that the movable platform can safely and smoothly pass through the circular gap.
  • this method of adjusting the movement parameters of the movable platform according to the preset scene helps to ensure that the movable platform safely traverses the preset scene, and when passing through the preset scene, the shooting device captures a stable image. image frame.
  • the image processing device may acquire consecutive n frames of images of the void captured by the photographing device, where n is an integer greater than 1, according to The size of the void is determined by the consecutive n frames of images; and/or, the depth of the void is acquired according to a vision sensor on the movable platform.
  • the image processing device may acquire 10 consecutive frames of images of the void taken by the camera, determine the size of the void according to the 10 consecutive frames of images, and acquire the depth of the void according to the visual sensor on the movable platform.
  • the image processing device may determine the depth of the void according to the echoes of the power system of the movable platform acquired by the echolocator. Taking the drone as an example, the image processing device can judge the depth of the void according to the echo of the drone's slurries.
  • the image processing device may generate a void crossing virtual pointing prompt according to the size and/or depth of the void, and the void crossing virtual pointing prompt is used to indicate a path for the movable platform to pass through the void, and displaying the virtual pointing prompt output through the gap on the display device of the movable platform.
  • the display device may be independent of the movable platform, and be disposed on the ground end for displaying the virtual pointing prompt for crossing the gap for the user to view.
  • the void-traversing virtual pointing cues may include, but are not limited to, one or more of text, lines, arrows, images, and the like.
  • the display device is the glasses on the ground side configured by the crossing machine
  • the user can wear the glasses, and the image processing device can output the virtual pointing prompt output of the crossing machine and display it on the crossing machine.
  • the image processing device can output the virtual pointing prompt output of the crossing machine and display it on the crossing machine.
  • the glasses for the user to view, through the gap to cross the virtual pointing prompt to assist the flight of the traversing aircraft, which helps to improve the safety of the traversing aircraft traversing the gap.
  • FIG. 3 is a schematic diagram of a virtual pointing prompt for gap crossing provided by an embodiment of the present invention.
  • a virtual pointing prompt 32 for passing through the gap can be generated, wherein the virtual pointing prompt 32 for passing through the gap is used to indicate the path of the movable platform passing through the gap 31, and the virtual pointing prompt 32 for passing through the gap is output and displayed.
  • the virtual pointing prompt 32 for passing through the gap is used to indicate the path of the movable platform passing through the gap 31, and the virtual pointing prompt 32 for passing through the gap is output and displayed.
  • the virtual pointing prompt for gap crossing is sent to the display device on the ground side for display for viewing by the user, which helps the user to determine the movable platform according to the virtual pointing prompt for crossing the gap. to assist the user to control the movable platform through the control terminal to safely traverse the gap.
  • the image processing device may perform zoom processing on the photographing device to determine the relationship between the movable platform and the preset scene. distance, and adjust the movement parameters of the movable platform according to the distance.
  • the image processing device determines that the distance between the movable platform and the preset scene is greater than the preset safety distance threshold, it can keep the movement parameters of the movable platform unchanged before the distance reaches the preset safety distance threshold, When it is determined that the distance is less than or equal to the preset safety distance threshold, the movement parameters of the movable platform are adjusted according to the change of the distance, so that the movable platform can safely traverse the preset scene.
  • the preset safe distance threshold is 10m
  • the drone safely traverses the gap.
  • the image processing device can control the movable platform to brake in an emergency to force the hovering, and then adjust after hovering.
  • the movement parameters of the movable platform control the movable platform to pass through the preset scene, so as to avoid the collision between the movable platform and the obstacles or gaps in the preset scene.
  • the UAV can be controlled to make an emergency brake to force the hovering and wait for it. After hovering, the drone can be restarted, and the flight parameters of the drone can be adjusted to control the drone to safely pass through the gap in the preset scene.
  • the preset scene includes obstacles
  • the image processing device can acquire the size of the obstacles in the preset scene, and The moving parameter of the movable platform is adjusted according to the size of the obstacle, and the movable platform is controlled to move according to the adjusted moving parameter, so that the movable platform can bypass the obstacle.
  • the size of the obstacle includes, but is not limited to, length, height, radius, area, and the like.
  • the image processing device can obtain the height and width of the tree, and adjust the flight parameters such as the flight attitude of the UAV according to the height and width of the tree, so as to make the UAV Fly in an adjusted flight attitude so that the drone bypasses this tree during flight.
  • the image processing device may store the image frames obtained after the variable speed processing.
  • the image processing device may generate a target video with a faster playback speed according to the image frames obtained after the fast playback processing; or, according to The image frame obtained after the slow-play processing generates a target video with a reduced playback speed.
  • the 60 image frames are played within 0.5 seconds, so that the playback speed can be accelerated to 60 frames/0.5 seconds target video.
  • the 60-frame image frames captured at the first frame rate of 60 frames/second are slow-played to complete the playback of the 60-frame image frames within 2 seconds, so that the playback speed can be slowed down to 60 frames/second. 2 seconds of target video.
  • the image processing device may acquire image frames shot by the photographing device according to the first frame rate, and when it is recognized that the scene photographed by the photographing device conforms to the preset scene and that the moving posture of the movable platform equipped with the photographing device conforms to the preset posture , when the current shooting time of the shooting device reaches the preset switching time, and receives any one or more of the trigger instructions sent by the control terminal of the mobile platform, perform variable speed processing on the image frames shot according to the first frame rate, and Image frames obtained after variable speed processing are stored.
  • the intelligent speed adjustment processing of the images captured by the photographing device during the movement of the movable platform can be realized, the accuracy of the intelligent speed adjustment of the images can be improved, the effect of the images can be guaranteed, and the user's ability to adjust the speed of the images during the shooting process can be satisfied. Intelligent and automated requirements for speed regulation.
  • FIG. 4 is a schematic flowchart of an image control method provided by an embodiment of the present invention. The method may be executed by a control terminal, wherein the specific explanation of the control terminal is as described above. The method of the embodiment of the present invention includes the following steps.
  • control terminal may generate a trigger instruction.
  • control terminal may generate the trigger instruction according to the start time node and the end time node set by the user, and the trigger instruction carries the start time node and the end time node, which are used to indicate that the start time node is at the start time node. and performing variable speed processing on the image frames captured at the first frame rate within the time period of the end time node.
  • control terminal may send a video shooting instruction to the movable platform before acquiring the image frames sent by the movable platform and shot by the shooting device according to the first frame rate, where the video shooting instruction carries the first frame rate, The video shooting instruction is used to instruct the movable platform to control the shooting device to shoot image frames according to the first frame rate.
  • S402 Send a trigger instruction to a movable platform equipped with a photographing device, the photographing device performs photography according to a first frame rate, and the trigger instruction is used to instruct the movable platform to record the images captured by the photographing device according to the first frame rate.
  • Image frames undergo variable speed processing.
  • control terminal may send the trigger instruction to a movable platform equipped with a photographing device, the photographing device performs photography at a first frame rate, and the trigger instruction is used to instruct the movable platform to The photographing device performs variable speed processing according to the image frames photographed at the first frame rate.
  • the trigger instruction is used to instruct the movable platform to perform fast-play processing or slow-play processing on the image frames captured at the first frame rate, and store the fast-play processing or slow-play processing The resulting image frame after processing.
  • control terminal may also receive a preset scene set by a user for triggering the movable platform to perform speed change processing, a preset gesture for triggering the movable platform to perform speed change processing, and a preset gesture for triggering all One or more of the switching time for the variable speed processing by the movable platform, and send it to the movable platform, so that the movable platform can switch the time according to the received preset scene, preset posture, to determine whether the scene captured by the photographing device mounted on the movable platform satisfies the preset conditions of the speed change processing.
  • control terminal may also receive one or more of the magnification and duration of fast-play or slow-play set by the user for triggering the movable platform to perform variable speed processing, and send it to the movable platform platform, so that the movable platform can perform fast or slow playback processing on the image frames captured by the photographing device according to the first frame rate according to one or more of the obtained magnifications and durations of fast playback or slow playback.
  • control terminal may also acquire the user's movement parameter setting operation, generate movement control instructions according to movement parameters corresponding to the movement parameter setting operations, and send the movement control instructions to the movable platform , the movement control instruction is used to instruct the movable platform to move according to the movement parameters corresponding to the movement parameter setting operation, and to perform variable speed processing on the image frames captured at the first frame rate.
  • the movement parameters include any one or more of a movement speed of the movable platform, an acceleration of the movable platform, and an attitude of the movable platform.
  • the control terminal generates a trigger instruction and sends the trigger instruction to a movable platform equipped with a photographing device, so as to instruct the movable platform to perform variable speed processing on the image frames captured by the photographing device according to the first frame rate, Therefore, it is helpful to realize the intelligent speed change processing of the images captured by the photographing device during the movement of the movable platform, improve the accuracy of the intelligent speed regulation of the images, ensure the effect of the images, and satisfy the user's expectations for the images captured during the shooting process. Intelligent and automated requirements for image speed regulation.
  • FIG. 5 is a schematic structural diagram of an image processing device according to an embodiment of the present invention.
  • the image processing device in this embodiment as shown in the figure may include: one or more processors 501 ; one or more communication interfaces 502 and a memory 503 .
  • the above-mentioned processor 501 , communication interface 502 and memory 503 are connected through a bus 504 .
  • the memory 503 is used for storing instructions
  • the processor 501 is used for executing the instructions stored in the memory 503 .
  • the processor 501 is configured to perform the following steps:
  • the speed change processing is performed on the image frame shot at the first frame rate, and the preset condition includes that the scene shot by the photographing device conforms to the preset scene, and the camera equipped with the photographing device can be One or more of the movement posture of the mobile platform conforms to the preset posture, the current photographing time of the photographing device reaches the preset switching time, and the trigger instruction sent by the control terminal of the mobile platform is received;
  • Image frames obtained after the variable speed processing are stored.
  • processor 501 is also used for:
  • the image frames of the first frame rate are sent to the control terminal in real time through the communication interface 502 .
  • processor 501 performs variable speed processing on the image frames captured at the first frame rate, it is specifically used for:
  • the processor 501 is further configured to:
  • a target video whose playback speed is slowed down is generated according to the image frames obtained after the slow-play processing.
  • processor 501 performs fast playback processing on the image frames captured at the first frame rate, it is specifically used for:
  • N is an integer greater than 0;
  • processor 501 is also used for:
  • processor 501 performs slow playback processing on the image frames captured at the first frame rate, it is specifically used for:
  • N is an integer greater than 0;
  • processor 501 is also used for:
  • processor 501 performs variable speed processing on the image frames captured at the first frame rate, it is specifically used for:
  • the preset switching time includes a start time node and an end time node, which are used to indicate that the image frame captured according to the first frame rate is changed within the time period of the start time node and the end time node. deal with.
  • processor 501 is also used for:
  • the movement control instruction carries the movement parameters corresponding to the user's movement parameter setting operation
  • the movable platform is controlled to move according to the movement parameter setting operation corresponding to the movement parameter.
  • processor 501 is also used for:
  • the movable platform is controlled to move according to the adjusted movement parameters.
  • the processor 501 adjusts the movement parameters of the movable platform according to the preset scene, it is specifically used for:
  • the movable platform is controlled to move according to the movement parameters corresponding to the preset scene.
  • the processor 501 adjusts the movement parameters of the movable platform according to the preset scene, it is specifically used for:
  • the movement parameters of the movable platform are adjusted according to the distance.
  • the preset scene includes obstacles or gaps.
  • processor 501 is also used for:
  • Whether the scene photographed by the photographing device is a gap is identified by one or more of a visual sensor, an infrared device, a zoom device, and a preset terrain model.
  • the processor 501 adjusts the movement parameters of the movable platform according to the preset scene, it is specifically used for:
  • the processor 501 controls the movable platform to move according to the adjusted movement parameters, it is specifically used for:
  • the movable platform is controlled to move according to the adjusted movement parameters, so that the movable platform bypasses the obstacle.
  • the preset scene includes a gap; when the processor 501 adjusts the movement parameters of the movable platform according to the preset scene, it is specifically used for:
  • the processor 501 controls the movable platform to move according to the adjusted movement parameters, it is specifically used for:
  • the movable platform is controlled to move according to the adjusted movement parameters, so that the movable platform passes through the gap.
  • the processor 501 acquires the size and/or depth of the void in the preset scene, it is specifically used for:
  • n is an integer greater than 1
  • the depth of the void is obtained from a vision sensor on the movable platform.
  • processor 501 is also used for:
  • the void crossing virtual pointing cue output is displayed on glasses of the movable platform.
  • the movement parameters include any one or more of the movement speed of the movable platform, the acceleration of the movable platform, and the posture of the movable platform.
  • the processor 501 may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP) , Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 503 may include read only memory and random access memory, and provides instructions and data to the processor 501 .
  • a portion of memory 503 may also include non-volatile random access memory.
  • the memory 503 may also store device type information.
  • the image processing device may acquire image frames shot by the photographing device according to the first frame rate, and when it recognizes that the scene photographed by the photographing device conforms to the preset scene and that the moving posture of the movable platform equipped with the photographing device conforms to the preset posture , when the current shooting time of the shooting device reaches the preset switching time, and receives any one or more of the trigger instructions sent by the control terminal of the mobile platform, perform variable speed processing on the image frames shot according to the first frame rate, and
  • the image frames obtained after the variable speed processing are stored to realize the intelligent speed regulation processing of the images captured by the photographing device during the movement of the movable platform, which improves the accuracy of the intelligent speed regulation of the images, ensures the effect of the images, and satisfies the It meets the intelligent and automatic needs of users to adjust the speed of the images during the shooting process.
  • FIG. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • the terminal in this embodiment as shown in the figure may include: one or more processors 601 ; one or more communication interfaces 602 and a memory 603 .
  • the above-mentioned processor 601 , communication interface 602 and memory 603 are connected through a bus 604 .
  • the memory 603 is used for storing instructions
  • the processor 601 is used for executing the instructions stored in the memory 603 .
  • the processor 601 is configured to perform the following steps:
  • the trigger instruction is sent to the movable platform equipped with the photographing device through the communication interface 602, the photographing device performs the photographing according to the first frame rate, and the trigger instruction is used to instruct the movable platform to carry out the photographing device according to the first frame rate.
  • the frame rate captured image frames undergo variable speed processing.
  • the trigger instruction carries a start time node and an end time node, which are used to indicate that the image frame captured according to the first frame rate is subjected to variable speed processing within the time period of the start time node and the end time node.
  • processor 601 is also used for:
  • One or more of the magnification and duration of fast playback or slow playback set by the user for triggering the movable platform to perform variable speed processing are received, and sent to the movable platform.
  • the processor 601 may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP) , Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 603 may include read only memory and random access memory, and provides instructions and data to the processor 601 .
  • a portion of memory 603 may also include non-volatile random access memory.
  • memory 603 may also store device type information.
  • the control terminal generates a trigger instruction and sends the trigger instruction to a movable platform equipped with a photographing device, so as to instruct the movable platform to perform variable speed processing on the image frames captured by the photographing device according to the first frame rate, Therefore, it is helpful to realize the intelligent speed change processing of the images captured by the photographing device during the movement of the movable platform, improve the accuracy of the intelligent speed regulation of the images, ensure the effect of the images, and satisfy the user's expectations for the images captured during the shooting process. Intelligent and automated requirements for image speed regulation.
  • An embodiment of the present invention further provides a movable platform, including: a body; a power system configured on the body, for providing the movable platform with moving power; a photographing device mounted on the movable platform; a processor , which is used to obtain the image frames shot by the photographing device according to the first frame rate; when it is recognized that a preset condition is met, perform variable speed processing on the image frames shot according to the first frame rate, and the preset conditions include the shooting The scene shot by the device conforms to the preset scene, the moving posture of the movable platform on which the shooting device is mounted conforms to the preset posture, the current shooting time of the shooting device reaches the preset switching time, and the control terminal that receives the mobile platform One or more of the sent trigger instructions; and store the image frames obtained after the variable speed processing.
  • processor is also used for:
  • processor performs variable speed processing on the image frames captured at the first frame rate, it is specifically used for:
  • the processor is further configured to:
  • a target video whose playback speed is slowed down is generated according to the image frames obtained after the slow-play processing.
  • the processor performs fast playback processing on the image frames captured according to the first frame rate, it is specifically used for:
  • N is an integer greater than 0;
  • processor is also used for:
  • the processor performs slow-play processing on the image frames captured at the first frame rate, it is specifically used for:
  • N is an integer greater than 0;
  • processor is also used for:
  • processor performs variable speed processing on the image frames captured at the first frame rate, it is specifically used for:
  • the preset switching time includes a start time node and an end time node, which are used to indicate that the image frame captured according to the first frame rate is changed within the time period of the start time node and the end time node. deal with.
  • processor is also used for:
  • the movement control instruction carries the movement parameters corresponding to the user's movement parameter setting operation
  • the movable platform is controlled to move according to the movement parameter setting operation corresponding to the movement parameter.
  • processor is also used for:
  • the movable platform is controlled to move according to the adjusted movement parameters.
  • the processor adjusts the movement parameters of the movable platform according to the preset scene, it is specifically used for:
  • the movable platform is controlled to move according to the movement parameters corresponding to the preset scene.
  • the processor adjusts the movement parameters of the movable platform according to the preset scene, it is specifically used for:
  • Zooming is performed on the photographing device to determine the distance between the movable platform and the preset scene
  • the movement parameters of the movable platform are adjusted according to the distance.
  • the preset scene includes obstacles or gaps.
  • processor is also used for:
  • Whether the scene photographed by the photographing device is a gap is identified by one or more of a visual sensor, an infrared device, a zoom device, and a preset terrain model.
  • the processor adjusts the movement parameters of the movable platform according to the preset scene, it is specifically used for:
  • the processor controls the movable platform to move according to the adjusted movement parameters, it is specifically used for:
  • the movable platform is controlled to move according to the adjusted movement parameters, so that the movable platform bypasses the obstacle.
  • the preset scene includes a gap; when the processor adjusts the movement parameters of the movable platform according to the preset scene, it is specifically used for:
  • the processor controls the movable platform to move according to the adjusted movement parameters, it is specifically used for:
  • the movable platform is controlled to move according to the adjusted movement parameters, so that the movable platform passes through the gap.
  • the processor acquires the size and/or depth of the void in the preset scene, it is specifically used for:
  • n is an integer greater than 1
  • the depth of the void is obtained from a vision sensor on the movable platform.
  • processor is also used for:
  • the void crossing virtual pointing cue output is displayed on glasses of the movable platform.
  • the movement parameters include any one or more of the movement speed of the movable platform, the acceleration of the movable platform, and the posture of the movable platform.
  • the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory which may include read-only memory and random access memory, provides instructions and data to the processor.
  • a portion of the memory may also include non-volatile random access memory.
  • the memory may also store device type information.
  • the movable platform may acquire image frames shot by the photographing device according to the first frame rate, and when it is recognized that the scene photographed by the photographing device conforms to the preset scene and the moving posture of the movable platform equipped with the photographing device conforms to the preset posture , when the current shooting time of the shooting device reaches the preset switching time, and receives any one or more of the trigger instructions sent by the control terminal of the mobile platform, perform variable speed processing on the image frames shot according to the first frame rate, and
  • the image frames obtained after the variable speed processing are stored to realize the intelligent speed regulation processing of the images captured by the photographing device during the movement of the movable platform, which improves the accuracy of the intelligent speed regulation of the images, ensures the effect of the images, and satisfies the It meets the intelligent and automatic needs of users to adjust the speed of the images during the shooting process.
  • An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, realizes the image described in the embodiment corresponding to FIG. 2 of the present invention
  • the processing method or the image control method described in the embodiment corresponding to FIG. 4 can also implement the image processing device according to the embodiment of the present invention shown in FIG. 5 or the control terminal according to the embodiment of the present invention shown in FIG. 6 , It is not repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or a memory of the device.
  • the computer-readable storage medium can also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card , Flash Card (Flash Card) and so on.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been or will be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

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Abstract

L'invention concerne un procédé de traitement d'images, un procédé de commande d'images et des dispositifs associés. Le procédé de traitement d'images comprend les étapes consistant à : acquérir une trame d'image qui est photographiée par un appareil photographique selon une première fréquence d'images (S201); lorsqu'il est reconnu qu'une condition prédéfinie est satisfaite, mettre en oeuvre un traitement de changement de vitesse sur la trame d'image qui est photographiée selon la première fréquence d'images, la condition prédéfinie comprenant au moins un des éléments suivants : un scénario photographié par l'appareil photographique est conforme à un scénario prédéfini, une posture de déplacement d'une plate-forme mobile qui porte l'appareil photographique est conforme à une posture prédéfinie, l'heure/la date actuelles de photographie de l'appareil photographique atteignent une heure/date de commutation prédéfinies, et la réception d'une instruction de déclenchement envoyée par un terminal de commande de la plate-forme mobile (S202); et stocker la trame d'image obtenue après le traitement de changement de vitesse (S203). La mise en oeuvre d'une régulation de vitesse intelligente sur une image photographiée par un appareil photographique dans le processus de déplacement d'une plate-forme mobile, sur la base d'une garantie de l'effet de l'image, permet d'améliorer l'efficacité de traitement d'image et de répondre à des exigences de commande intelligente et automatique d'un utilisateur pour la mise en oeuvre d'une régulation de vitesse sur une image dans un processus de photographie.
PCT/CN2020/106441 2020-07-31 2020-07-31 Procédé de traitement d'images, procédé de commande d'images et dispositif associé Ceased WO2022021438A1 (fr)

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