A method and an apparatus for obtaining a range image, and a UAV are provided. The method includes: reading an image sequence of a predetermined scene, in which the Nth image and the (N+1)th image of the image sequence have an overlapping region; obtaining a pixel movement velocity of each pixel point in the overlapped region in a camera coordinate system of the UAV; obtaining an actual flying velocity of the UAV in a world coordinate system; obtaining a range image of each overlapped region according to the pixel movement velocity of each pixel point in the overlapped region in the camera coordinate system of the UAV, the actual flying velocity of the UAV in the word coordinate system, and parameters of the airborne camera, and obtaining a range image of the preset scene through integrating the range image of each overlapped region.
Method and apparatus for obtaining range image with UAV, and UAV
2019-02-05
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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