公开(公告)号：US10171746B2

公开(公告)日：2019-01-01

申请号：US15256404

申请日：2016-09-02

Applicant: PARROT DRONES

Inventor： Benoit Pochon ,  Axel Balley ,  Henri Seydoux

IPC: H04N5/235 ,  H04N5/232 ,  B64C39/02 ,  B64D47/08 ,  G05D1/00 ,  G06K9/00 ,  G06K9/46 ,  G06T3/00 ,  H04N5/225

Abstract: The drone comprises a camera (14), an inertial unit (46) measuring the drone angles, and an extractor module (52) delivering image data of a mobile capture area of reduced size dynamically displaced in a direction opposite to that of the variations of angle measured by the inertial unit. The module analyses the image data elements of the useful area to assign to each one a weighting coefficient representative of a probability of belonging to the sky, and defines dynamically a boundary of segmentation (F) of the useful area between sky and ground as a function of these weighting coefficients. Two distinct groups of regions of interest ROIs are defined, for the sky area and for the ground area, respectively, and the dynamic exposure control means are controlled as a function of the image data of the ROIs of one of these groups, in particular by excluding the ROIs of the sky area.

公开(公告)号：US20170236291A1

公开(公告)日：2017-08-17

申请号：US15256423

申请日：2016-09-02

Applicant: PARROT DRONES

Inventor： Axel Balley ,  Benoit Pochon

IPC: G06T7/11 ,  H04N5/235 ,  H04N9/73 ,  G05D1/00 ,  G06T5/00 ,  G06K9/46 ,  B64C39/02 ,  B64D47/08 ,  H04N7/18 ,  H04N5/232

CPC classification number: G06T7/11 ,  B64C39/024 ,  B64C2201/127 ,  B64D47/08 ,  G05D1/0038 ,  G05D1/0094 ,  G06K9/4604 ,  G06T5/006 ,  H04N5/232 ,  H04N5/23212 ,  H04N5/23238 ,  H04N5/23248 ,  H04N5/235 ,  H04N5/2351 ,  H04N7/185 ,  H04N9/73

Abstract: The drone comprises a camera (14), an inertial unit (46) measuring the drone angles, and an extractor module (52) delivering image data of a mobile capture area of reduced size dynamically displaced in a direction opposite to that of the angle variations measured by the inertial unit. Compensator means (52) receive as an input the current drone attitude data and acting dynamically on the current value (54) of an imaging parameter such as auto-exposure, white balance or autofocus, calculated as a function of the image data contained in the capture area.

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：US20170078552A1

公开(公告)日：2017-03-16

申请号：US15256404

申请日：2016-09-02

Applicant: PARROT DRONES

Inventor： Benoit Pochon ,  Axel Balley ,  Henri Seydoux

IPC: H04N5/235 ,  G06T3/00 ,  G06K9/46 ,  G05D1/00 ,  H04N5/232 ,  B64C39/02 ,  B64D47/08 ,  H04N5/225 ,  G06K9/00

CPC classification number: H04N5/2353 ,  B64C39/024 ,  B64D47/08 ,  G05D1/0038 ,  G06K9/0063 ,  G06K9/4604 ,  G06T3/0018 ,  H04N5/2254 ,  H04N5/23238 ,  H04N5/23248 ,  H04N5/235 ,  H04N5/2351

Abstract: The drone comprises a camera (14), an inertial unit (46) measuring the drone angles, and an extractor module (52) delivering image data of a mobile capture area of reduced size dynamically displaced in a direction opposite to that of the variations of angle measured by the inertial unit. The module analyses the image data elements of the useful area to assign to each one a weighting coefficient representative of a probability of belonging to the sky, and defines dynamically a boundary of segmentation (F) of the useful area between sky and ground as a function of these weighting coefficients. Two distinct groups of regions of interest ROIs are defined, for the sky area and for the ground area, respectively, and the dynamic exposure control means are controlled as a function of the image data of the ROIs of one of these groups, in particular by excluding the ROIs of the sky area.

Abstract translation: 无人机包括摄像机（14），测量无人机角度的惯性单元（46），以及提取器模块（52），其输送尺寸减小的移动捕获区域的图像数据，该移动捕获区域以与 角度由惯性单元测量。 该模块分析有用区域的图像数据元素以分配给每一个表示属于天空的概率的加权系数，并且动态定义天空和地面之间的有用区域（F）的边界作为函数 的这些加权系数。 对于天空区域和地面区域分别定义了两个不同的感兴趣区域组，并且动态曝光控制装置根据这些组中的一个的ROI的图像数据被控制，特别是由 不包括天空区域的ROI。