UAV video stabilization method and device for low-altitude flight scene

A low-altitude flight and stabilization method technology, applied in the field of communication, can solve the problems of poor usability in low-altitude flight scenarios, and achieve the effect of improving stability and usability

Active Publication Date: 2019-12-03
BEIHANG UNIV
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Problems solved by technology

[0004] The present invention provides a UAV video stabilization method and device for low-altitude flight scenes, which are used to solve the problem of poor usability of low-altitude flight scenes in the existing UAV video stabilization technology.

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  • UAV video stabilization method and device for low-altitude flight scene
  • UAV video stabilization method and device for low-altitude flight scene
  • UAV video stabilization method and device for low-altitude flight scene

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[0056] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0057] figure 1 The flow chart of an embodiment of the UAV video stabilization method of the low-altitude flight scene provided by the present invention, as figure 1 shown, including:

[0058] 101. Extract the feature points in each frame of the video to be stabilized, and connect to obtain the trajectory and trajectory length of each featu...

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Abstract

The present invention provides a UAV video stabilization method and device for a low-altitude flight scene, wherein the method includes: acquiring the UAV video to be stabilized, extracting feature points from each frame in the video, and connecting to obtain the trajectory of each feature point, The trajectory is divided into long trajectory and short trajectory according to the threshold value. Based on the long trajectory and smooth long trajectory, the global transformation matrix corresponding to each frame of picture can be calculated, combined with the corresponding global transformation matrix, short trajectory and low-pass filter of each frame of picture, it can be obtained Smooth the short trajectory, and finally use the multi-plane optimization method to combine the long trajectory and the short trajectory for calculation to obtain a stable UAV video. The present invention classifies the trajectory of the feature points, while ensuring the stability of the area with sufficient feature points, it also has a stabilizing effect on the area with insufficient feature points, and can solve the edge instability of the multi-plane optimization method in the low-altitude flight scene to a certain extent , thereby improving the stabilization effect of drone videos.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a video stabilization method and device for a drone in a low-altitude flight scene. Background technique [0002] UAV video stabilization technology is mainly to solve the problem of UAV video image jitter caused by atmospheric turbulence, propeller vibration and attitude change. This technology can restore a stable observation field of view through computer graphics transformation only based on the image information in the video shot by the drone, which is of great significance for enhancing the usability of the video shot by the drone. [0003] In the current UAV video stabilization method, it is mainly based on estimating the transformation matrix between image sequences, using a certain frame as a reference to compensate all frames, so that the viewing angles of all frames are close to the selected frame, and the transformation matrix can also be smoothed , so as to o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04N5/14H04N5/21H04N5/232
CPCH04N5/144H04N5/21H04N23/681H04N23/682
Inventor 曹先彬陈磊刘俊英郑洁宛
Owner BEIHANG UNIV
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