Drone provided with a video camera and means for compensating for the artefacts produced at the highest roll angles

Patent metadata

Field	Value
Publication number	US-9876959-B2
Application number	US-201615004733-A
Country	US
Kind code	B2
Filing date	Jan 22, 2016
Priority date	Jan 26, 2015
Publication date	Jan 23, 2018
Grant date	Jan 23, 2018

Abstract

The drone comprises a camera, an inertial unit measuring the drone angles, and an extractor module delivering data of an image area (ZI) of reduced size defined inside a capture area (ZC) of the sensor. A feedback-control module dynamically modifies the position and the orientation of the image area inside the capture area, in a direction opposite to that of the angle variations measured by the inertial unit. The sensor may operate according to a plurality of different configurations able to be dynamically selected, with a base configuration using a base capture area (ZCB) for low values of roll angle (θ), and at least one degraded mode configuration using an extended capture area (ZCE) of greater size than the base capture area (ZCB), for high values of roll angle (θ).

First claim

The invention claimed is:

1. A motorized flying machine such as a drone ( 10 ) provided with a system for stabilizing the captured images comprising:
a camera ( 14 ) linked to the drone body, said camera comprising:
a hemispherical-field lens of the fisheye type, and
a digital sensor acquiring the image formed by the lens,
where only one part, located inside a capture area (ZC), of the pixels of the image formed on the digital sensor is captured to deliver raw pixel data;

an inertial unit ( 50 ), adapted to measure the Euler angles (φ, θ, ψ) describing the instantaneous attitude of the drone with respect to an absolute terrestrial reference system;
an extractor module ( 52 ), receiving as an input said raw pixel data of said capture area (ZC) and delivering as an output pixel data of an image area (ZI) of reduced size inside the capture area and corresponding to an angular sector ( 36 ) captured by a conventional camera; and
a feedback-control module ( 54 , 56 ), receiving as an input angle values delivered by the inertial unit, and adapted to dynamically modify the position and the orientation of the image area inside the capture area, in the direction opposite to that of the changes of the angle values measured by the inertial unit,

characterized in that:
the digital sensor is able to operate according to a plurality of different configurations of operation, able to be dynamically selected during a same sequence of image taking of the camera, said configurations of operation comprising:
a base configuration using a base capture area (ZCB) as a capture area (ZC), and
at least one degraded mode configuration using as a capture area (ZC) an extended capture area (ZCE) of greater size than the base capture area (ZCB), with application to the pixels of the extended capture area of a conversion processing adapted to reduce the size of the extended capture area to that of the base capture area, and

it is further provided a compensator module ( 58 ), receiving as an input successive values of roll angle (θ) of the drone delivered by the inertial unit, and adapted to dynamically modify the current configuration of operation of the digital sensor so that the digital sensor operates:
according to the base configuration for roll angle values (θ) lower than a first limit, and
according to a degraded mode configuration for roll angle values (θ) higher than a second limit,

wherein the compensator module is adapted to dynamically modify the current configuration of operation of the digital sensor:
from the base configuration to the degraded mode configuration when the roll angle value increases beyond a first predetermined threshold,
and from the degraded mode configuration to the base configuration when the roll angle of the drone decreases under a second predetermined threshold, the second threshold being different from the first threshold and the second threshold being lower than the first threshold.

2. The drone of claim 1 , wherein the configurations of operation comprise:
the base configuration (Configuration #1), using the base capture area (ZCB) as a capture area (ZC),
a moderately degraded mode configuration (Configuration #2) using as a capture area (ZC) a first extended capture area of greater size than the base capture area, with application to the pixels of the first extended capture area of a first conversion processing adapted to reduce the size of the first extended capture area to that of the base capture area, and
a strongly degraded mode configuration (Configuration #3) using as a capture area (ZC) a second extended capture area of greater size than the first extended capture area, with application to the pixels of the second extended capture area of a second conversion processing, different from the first processing, adapted to reduce the size of the second extended capture area to that of the base capture area,

and wherein the compensator module is further adapted to dynamically modifies the current configuration of operation of the digital sensor such that the digital sensor operates:
according to the base configuration for roll angle values lower than the first limit,
according to the moderately degraded mode configuration for roll angle values higher than the second limit and lower than the third limit, and
according to the strongly degraded mode configuration for roll angle values higher than those of the third limit.

Assignees

• Parrot Drones

Inventors

• Eline Pierre

Classifications

• H04N23/684

  performed by controlling the image sensor readout, e.g. by controlling the integration time · CPC title

• H04N25/46

  by combining or binning pixels · CPC title

• H04N25/443

  by reading pixels from selected two-dimensional [2D] regions of the array, e.g. for windowing or digital zooming · CPC title

• H04N23/687 Primary

  by shifting the lens or sensor position · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title