The invention provides an unmanned aerial vehicle depth image acquisition method and an unmanned aerial vehicle. The method comprises the steps that an onboard camera is used to acquire the image sequence of a predetermined scene, wherein the Nth image and the N+1th image in the image sequence have overlapping areas and the area ratio of the area of each overlapping area to the area of the Nth image and the N+1th image is higher than a preset ratio; an optical flow method based on feature matching is used to acquire the change of the location information of each pixel of the Nth image in each overlapping area in the N+1th image, and accordingly the pixel movement speed of each pixel of the unmanned aerial vehicle in each overlapping area in a camera coordinate system is acquired; the actual flight speed of the unmanned aerial vehicle in a world coordinate system is acquired; and according to the pixel movement speed, the actual flight speed and the parameters of the onboard camera, the depth image of each overlapping area is acquired, and accordingly integrating is carried out to acquire the depth image of a predetermined scene. The method provided by the invention can be used to accurately acquire the depth images, and has the advantages of wide application scope, low cost and easy realization.
Unmanned aerial vehicle depth image acquisition method and unmanned aerial vehicle
2016-01-06
Patent
Elektronische Ressource
Englisch
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