公开(公告)号：US10122949B2

公开(公告)日：2018-11-06

申请号：US15188441

申请日：2016-06-21

Applicant: PARROT DRONES

Inventor： Eng Hong Sron

IPC: H04N5/357 ,  G06T3/00 ,  G06T5/50 ,  B64C27/08 ,  B64C39/02 ,  B64D47/08 ,  H04N5/247 ,  H04N9/04

Abstract: This camera unit (14) comprises a high-resolution rolling shutter camera (16) and one or several low-resolution global shutter cameras (18), for example monochromic spectral cameras. All the cameras are oriented in the same direction and are able to be triggered together to collect simultaneously a high-resolution image (I0) and at least one low-resolution image (I1-I4) of a same scene viewed by the drone. Image processing means (22) determine the distortions of the wobble type present in the high-resolution image and absent from the low-resolution images, and combine the high-resolution image (I0) and the low-resolution images (I1-I4) to deliver as an output a high-resolution image (I′0) corrected for these distortions.

公开(公告)号：US20170006240A1

公开(公告)日：2017-01-05

申请号：US15188441

申请日：2016-06-21

Applicant: PARROT DRONES

Inventor： Eng Hong Sron

IPC: H04N5/357 ,  B64C27/08 ,  B64C39/02 ,  B64D47/08 ,  H04N5/247 ,  H04N9/04

CPC classification number: H04N5/357 ,  B64C27/08 ,  B64C39/024 ,  B64C2201/024 ,  B64D47/08 ,  G06T3/00 ,  G06T5/50 ,  G06T2207/10032 ,  G06T2207/30181 ,  H04N5/247 ,  H04N9/045

Abstract: This camera unit (14) comprises a high-resolution rolling shutter camera (16) and one or several low-resolution global shutter cameras (18), for example monochromic spectral cameras. All the cameras are oriented in the same direction and are able to be triggered together to collect simultaneously a high-resolution image (I0) and at least one low-resolution image (I1-I4) of a same scene viewed by the drone. Image processing means (22) determine the distortions of the wobble type present in the high-resolution image and absent from the low-resolution images, and combine the high-resolution image (I0) and the low-resolution images (I1-I4) to deliver as an output a high-resolution image (I0) corrected for these distortions.

Abstract translation: 该相机单元（14）包括高分辨率滚动快门相机（16）和一个或多个低分辨率全局快门相机（18），例如单色光谱相机。 所有摄像机都朝同一方向定向并且能够被一起触发以同时收集由无人机所观看的同一场景的高分辨率图像（I0）和至少一个低分辨率图像（I1-I4）。 图像处理装置（22）确定存在于高分辨率图像中的摆动类型的失真，并且不存在于低分辨率图像中，并且组合高分辨率图像（I0）和低分辨率图像（I1-I4） 作为输出传送针对这些失真校正的高分辨率图像（I0）。

公开(公告)号：US09826202B2

公开(公告)日：2017-11-21

申请号：US14855287

申请日：2015-09-15

Applicant: PARROT DRONES

Inventor： Pierre Eline ,  Eng Hong Sron

IPC: H04N7/18 ,  H04N5/232 ,  H04N5/353 ,  B64C39/02 ,  B64D47/08 ,  G06F3/0346

CPC classification number: H04N7/185 ,  B64C39/024 ,  B64C2201/123 ,  B64D47/08 ,  G06F3/0346 ,  H04N5/23258 ,  H04N5/23264 ,  H04N5/23267 ,  H04N5/3532

Abstract: The apparatus comprises a camera (10) with a digital sensor read by a mechanism of the rolling shutter type delivering video data (Scam) line by line. An exposure control circuit (22) adjusts dynamically the exposure time (texp) as a function of the level of illumination of the scene that is captured. A gyrometer unit (12) delivers a gyrometer signal (Sgyro) representative of the instantaneous variations of attitude (φ, θ, ψ) of the camera, and a processing circuit (18) that receives the video data (Scam) and the gyrometer signal (Sgyro) delivers as an output video data processed and corrected for artefacts introduced by vibrations specific to the apparatus. An anti-wobble filter (24) dynamically modifies the gain of the gyrometer signal as a function of the exposure time (texp), so as to reduce the gain of the filter when the exposure time increases, and vice versa.

公开(公告)号：US20170078553A1

公开(公告)日：2017-03-16

申请号：US15258936

申请日：2016-09-07

Applicant: PARROT DRONES

Inventor： Eng Hong Sron ,  Benoit Pochon

IPC: H04N5/235 ,  G06T7/00

CPC classification number: H04N5/2353 ,  B64C2201/127 ,  G06T7/80 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/30241 ,  H04N5/235 ,  H04N5/2351

Abstract: The invention relates to a method of dynamically determining the duration of exposure for the capture of an image implemented in a drone comprising a substantially vertical-view camera. The method comprises a step (21) of measuring of the horizontal speed of displacement of the drone, a step (22) of measuring the distance between said drone and the ground, and a step (23) of determining the duration of exposure based on the measured speed of displacement of the drone, the distance measured between said drone and the ground, a predetermined quantity of blurring and the focal length of said camera.

Abstract translation: 本发明涉及一种动态地确定曝光持续时间的方法，所述曝光持续时间用于拍摄在包括基本垂直视角相机的无人机中实现的图像。 该方法包括测量无人机的水平移动速度的步骤（21），测量无人机与地面之间的距离的步骤（22），以及基于以下步骤确定曝光持续时间的步骤（23）： 无人机的位移测量速度，所述无人机与地面之间测量的距离，预定量的模糊和所述摄像机的焦距。

公开(公告)号：US20170006263A1

公开(公告)日：2017-01-05

申请号：US15189676

申请日：2016-06-22

Applicant: PARROT DRONES

Inventor： Eng Hong Sron

IPC: H04N7/18 ,  B64C39/02 ,  B64D47/08 ,  G06K9/00

CPC classification number: H04N7/188 ,  B64C39/024 ,  B64C2201/123 ,  B64D47/08 ,  G01C11/02 ,  G01C11/06 ,  G06K9/00657 ,  G06T17/05 ,  H04N5/23238 ,  H04N5/76 ,  H04N7/183

Abstract: The invention relates to a camera unit (14) adapted to be placed on board a drone (10) to map a land (16), comprising a camera (18) adapted to capture successive images of portions of the land overflown by the drone. The camera unit comprises means for memorizing the captured images, means for comparing information about the overflown land portion visible through the camera with at least one piece of information about at least the previous captured image to determine the rate of overlapping of the overflown land portion with at least said previous captured image, and means for sending a command to the camera to carry out the capture of an image, as soon as the rate of overlapping of the overflown land portion is lower than or equal to the predetermined rate of overlapping.

Abstract translation: 本发明涉及适于放置在无人机（10）上以映射陆地（16）的相机单元（14），其包括适于捕获由无人机所溢出的陆地部分的连续图像的照相机（18）。 相机单元包括用于存储所捕获的图像的装置，用于将关于通过照相机可见的溢出陆地部分的信息与至少一条关于至少先前捕获图像的至少一条信息进行比较的装置，以确定溢出陆地部分与 至少所述先前捕获的图像，以及一旦溢出陆地部分的重叠速率低于或等于预定重叠速率的速率，则向相机发送命令以执行图像的捕捉的装置。