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1. 发明专利

JP2012006587A Method for evaluating horizontal speed of drone, particularly of drone capable of performing hovering flight under autopilot 有权
标题翻译：用于评估刮刀水平速度的方法，特别是可以在自动操纵下执行遮蔽飞行
公开(公告)号：JP2012006587A
公开(公告)日：2012-01-12
申请号：JP2011137925
申请日：2011-06-22
申请人： Parrot , パロット
发明人： DERBANNE THOMAS
IPC分类号： B64D47/08 , B64C13/20 , B64C27/04
CPC分类号： G06T7/207 , G01S15/025 , G01S15/93 , G06T2207/30212 , G06T2207/30252
摘要： PROBLEM TO BE SOLVED: To provide a method for evaluating the horizontal translation speed of a drone.SOLUTION: The method operates by estimating the differential movement of the scene picked up by a vertically-oriented camera. Estimation includes periodically and continuously updating of a multi-resolution representation of the pyramid of images type modeling a given picked-up image of the scene at different, successively-decreasing resolutions. For each new picked-up image, an iterative algorithm of the optical flow type is applied to the representation. The method also provides responding to the data produced by the optical-flow algorithm to obtain at least one texturing parameter representative of the level of micro-contrasts in the picked-up scene and obtaining an approximation of the speed. To the parameters, a series of the predetermined criteria are subsequently applied. If the series of criteria are satisfied, the system switches from the optical-flow algorithm to an algorithm of the corner detector type.
摘要翻译：要解决的问题：提供一种用于评估无人驾驶飞机的水平平移速度的方法。
解决方案：该方法通过估计由垂直取向的相机拾取的场景的差分运动来操作。估计包括以不同的连续降低的分辨率周期性地连续地更新以类型建模场景的给定拍摄图像的图像的金字塔的多分辨率表示。对于每个新的拾取图像，将光流类型的迭代算法应用于表示。该方法还提供响应于由光流算法产生的数据，以获得表示拾取场景中的微观对比度的至少一个纹理参数并获得速度的近似值。对于参数，随后应用一系列预定标准。如果满足一系列标准，则系统从光流算法切换到角检测器类型的算法。版权所有（C）2012，JPO＆INPIT

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