• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The drone comprises a camera (14) with a rolling shutter type digital sensor delivering video data (I) line by line. An inertial unit (26) delivers a gyrometric signal representative of the instantaneous variations of attitude (φ, θ, ψψ) of the camera. an image processing module (30) comprising an anti-wobble module receives the video data (/) and the gyrometric signal as input, and outputs processed and corrected video data of the artifacts introduced by the vibrations of the drone engines . A complementary filtering module (36) applies a predetermined compensating transfer function to the gyrometric input signal of the anti-wobble module, which is a reverse transfer function of the frequency response of the gyrometric sensor of the inertial unit.
    公开号:FR3044141A1
    申请号:FR1561219
    申请日:2015-11-23
    公开日:2017-05-26
    发明作者:Pierre Eline
    申请人:Parrot SA；
    IPC主号:
    专利说明:

    The invention relates to the processing of digital images captured by a camera embedded in a mobile device, in particular a motorized flying machine such as a drone. The invention is advantageously applied to the images collected by the front camera of a rotary wing drone such as a quadrocopter. A typical example is 'AR. Drone 2.0 or the Bebop (registered trademarks) of Parrot SA, Paris, France, which are quadricopters equipped with a series of sensors (accelerometers, gyrometers, altimeter), a front video camera capturing an image of the scene towards which is directed the drone, and a vertical aiming camera capturing an image of the terrain overflown. The drone is provided with multiple rotors driven by respective engines controllable differentially to control the drone attitude and speed.
    EP 2 364 757 A1, EP 2 613 213 A1, EP 2 613 214 A1 or EP 2 933 775 (Parrot SA) describe various aspects of these drones.
    The front-facing video camera can be used for "immer-sif" control, ie where the user uses the camera image in the same way as if he were himself. on board the drone.
    It can also be used to capture sequences of images of a scene towards which the drone is heading. The user can thus use the drone in the same way as a camera or a camcorder that, instead of being held by hand, would be carried by the drone. The images collected can be recorded and broadcast, posted on video hosting websites, sent to other Internet users, shared on social networks, etc.
    These images are intended to be recorded and communicated, it is desirable that they have the least possible defects, including defects caused by the behavior of the drone, which can generate oscillations, deformations and other artifacts inadvertent image captured by the camera.
    These defects may be acceptable in an "immersive steering" configuration. On the other hand, if it is to use the drone in the manner of a mobile video camera to capture sequences that will be recorded and restored later, these defects are extremely troublesome, so it is desirable to reduce them to a minimum. The invention is particularly aimed at eliminating the defect known as a wobble, which is a blurring effect and deformation of the image. This effect appears in the presence of high frequency and low amplitude vibrations, typically the vibrations of the motors, transmitted to the support of the camera and which result in deforming the straight lines with appearance of waves and wave formation in the image. . This effect, even if it is not very accentuated, is very quickly perceptible to the eye, so that it quickly degrades the visual quality of the image.
    This particular artefact is due to the rolling shutter mechanism (and not global shutter) used by camera sensors such as those embedded on drones, where the lines constituting the image are not acquired at the same time for all the pixels of the image, but one after the other. The vibrations occurring during the capture of an image thus generate within the image displacements that are not the same from one line to the next, hence the appearance of the undulations.
    The line-by-line correction ("intra-image" correction) of the wobble effect can be carried out using the measurements of the gyrometers, which deliver a signal representative of the instantaneous rotations of the drone and therefore of the camera in the three axes, including fast variations due to vibrations. The application of an inverse transform of the gyrometric measurement makes it possible to compensate to a certain extent the wobble effect, since the attitude of the drone can be acquired precisely for each of the lines, and in synchronism with the sensor. the camera.
    An image stabilization technique of this type, implemented numerically, is described in the aforementioned EP 2 933 775 A1 to which reference may be made for further details.
    However, as will be explained more precisely in the detailed description below, this method of compensating the wobble by using the gyrometric signal is likely to produce under-conditions over-corrections generating new artifacts, with the consequence that The corrected image is, paradoxically, more degraded than the raw image obtained before any correction. These overcorrections can in particular make appear on the image ripples that did not exist on the raw image, and that are particularly troublesome if one wants to capture video sequences to record and later restore them with the highest quality. high. One of the aims of the invention is to remedy this drawback by allowing, as soon as the shot is taken, to have a video signal transmitted by the drone to the user, which the latter can record and reproduce in the better conditions, without the need for post-processing.
    The starting point of the invention is based on the observation that the video stabilization technique described in particular in the above-mentioned EP 2 933 775 A1 does not use any image analysis to estimate the movements of the drone to be compensated. The stabilization performance therefore does not depend on the captured scene, but only on the precision of the instantaneous angles of rotation of the drone estimated by the inertial unit of this one.
    Moreover, in the field of high frequencies (typically the vibration frequencies generated by the motors), the estimation of the rotation angles of the drone is ensured by a single series of sensors, namely the gyrometers of the inertial unit. The other techniques, for example the analysis of the image delivered by the vertical camera, can indeed provide rotation estimates only at a frequency lower than the refresh rate of the images (which is in practice 60 Hz). while the vibrations of the motors, corresponding to the frequency of rotation of the propellers, are around 120 Hz of fundamental frequency. The gyrometers of the inertial unit are therefore the only components capable of reliably measuring the vibrations experienced by the camera, so that the accuracy of the measurements delivered by these sensors is essential to obtain a powerful stabilization, since the correction of the wobble rests entirely on the measures issued by them.
    However, one of the defects of this type of component is an irregular transfer function. Ideally, the transfer function of such a sensor should have a unitary gain, constant, throughout the operating bandwidth, and a linearly varying phase on the same bandwidth.
    But concretely, unless you implement very high precision components and therefore high cost, these conditions are not met. In practice, the profile of the gain characteristic often has a hump, corresponding to a resonance, and a progressively decreasing gain towards the high frequencies. It is also observed that the phase is generally far from being linear, which constitutes an additional source of error in the estimation of the angles, with consequent deterioration of the stabilization.
    The basic principle of the invention consists, after identifying the transfer function of the component (non-uniformity of the gain, non-linearity of the phase, etc.) to define a filter having a complementary transfer function (gain and phase ) and to set up, within the drone, a corresponding digital filtering which will be applied by the drone on the samples of the gyrometric signal before application of the latter to the image correction module.
    This technique has a double advantage, namely: eliminating almost all the over-corrections introduced by the irregular response of the gyrometric sensors, in particular the resonances of the gyrometers; and - widening the bandwidth of the image stabilization system upwards by amplifying the high frequencies, in particular the frequencies above the motor rotation frequency, which may contain disturbing harmonics the effects of which must be minimized. image, even if they are less marked than around the frequencies close to those of rotation of the propellers of the drone. For this purpose, the invention proposes a drone comprising, in a manner known per se in particular from the aforementioned EP 2 933 775 A1: a camera comprising an objective, a digital sensor on which is formed an image of a stage, and a rolling shutter type sensor reading mechanism delivering line-by-line video data output; an inertial unit, comprising a gyrometric sensor capable of measuring variations in the attitude of the drone and outputting a gyrometric signal representative of the instantaneous rotations of the drone relative to a given reference point; and an image processing module, comprising an antwobble module receiving as input the video data and the gyrometric signal, and outputting processed and corrected video data of artifacts introduced by vibrations specific to the drone.
    In a characteristic manner of the invention, such a drone further comprises, at the input of the image processing module: a complementary filtering module, able to apply a predetermined compensating transfer function to the gyrometric signal at the input of the anti-reflection module; wobble, said predetermined transfer function being an inverse transfer function of the frequency response of said gyrometric sensor of the inertial unit. The subject of the invention is also a method for correcting a wobble-type artifact introduced by vibrations specific to a drone in a digital image collected by a rolling shutter type digital sensor of a camera of said drone, where the drone comprises an inertial unit comprising a gyrometric sensor capable of measuring variations in the attitude of the drone and outputting a gyrometric signal representative of the instantaneous rotations of the drone with respect to a given reference mark.
    The method of the invention comprises: a) in a preliminary step: a1) measuring the frequency response of said gyrometric sensor of the inertial unit; a2) generating a digital filter having an inverse compensating transfer function of said frequency response (C1) of the gyro sensor; and a3) loading said digital filter into a complementary filtering module at the input of an anti-wobble module of the drone, and b) during operation of the drone, continuously and in real time: b1) collecting the gyrometric signal delivered by the inertial unit of the drone; b2) applying, to the gyrometric signal collected in step b1), the compensating transfer function loaded into the digital filter in step a3); and b3) applying, to the anti-wobble module of the drone, the gyro-metric signal filtered in step b2). 0
    An embodiment of the present invention will now be described with reference to the appended drawings in which the same references designate identical or functionally similar elements from one figure to another.
    Figure 1 is a general view showing a drone controlled by a remote control device.
    Figure 2 illustrates the jelly and wobble artifacts observable on the image of a checkerboard, before applying any corrective filtering.
    Figures 3a and 3b illustrate the Bode diagram (respectively gain and phase) typical of the transfer function of a gyro-metric sensor incorporated in the inertial unit of a drone.
    Figure 4 illustrates, in block diagram form, the various elements contributing to the image stabilization and correction mechanism according to the invention.
    FIGS. 5a and 5b illustrate the Bode diagram corresponding to the transfer function of the compensation filtering applied in accordance with the teachings of the technique of the invention in superposition of the transfer function of the gyrometric sensor of FIGS. 4a and 4b, and also illustrate the transfer function resulting from the compensation of the latter by the filter transfer function. 0
    An embodiment of the device of the invention will now be described.
    In FIG. 1, reference numeral 10 generally designates a drone, for example a quadricopter such as the Bebop Drone model from Parrot SA, Paris, France. This drone comprises four coplanar rotors 12 whose engines are controlled independently by an integrated navigation system and attitude control. It is provided with a front-facing camera 14 making it possible to obtain an image of the scene towards which the drone is heading, for example a high-definition wide-angle camera with a CMOS sensor of 1920 x 1080 pixels with a refresh rate. video stream of 30 fps (image per second). The drone is also provided with a downward pointing vertical camera 16, for example a CMOS sensor camera of QVGA resolution (320 x 240 pixels) with a refresh rate of the video stream of 60 fps and a field of view 64 °. This camera 16 captures successive images of terrain overflown T which serve in particular to evaluate the speed of the drone relative to the ground.
    The drone is also equipped with inertial sensors (accelerometers and gy-rometers) to measure with a certain accuracy the angular velocities and attitude angles of the drone, ie the angles of Euler (pitch φ, roll 0 and lace ι / ή describing the inclination of the drone with respect to a horizontal plane of a fixed terrestrial reference LJVW, it being understood that the two longitudinal and transverse components of the horizontal velocity are intimately related to the inclination along the two axes pitch and roll.
    The drone 10 is controlled by a remote remote control device 18 such as a multimedia touch screen phone or tablet and integrated accelerometers, for example a smartphone of the iPhone (registered trademark) or other type, or an iPad-type tablet (registered trademark ) Or other. This is a standard device, unmodified if not the loading of a specific application software such as the AR Free Flight (registered trademark) mobile application to control the piloting of the drone 10 and the visualization of the images The apparatus 18 comprises a body 20 and a touch screen 22 displaying the image of the scene captured by the front camera 14, with a number of symbols superimposed enabling the activation of control commands. control (up / down, etc.) by simply touching a finger 24 of the user on the symbols displayed on the screen. The apparatus 18 is also provided with inclination sensors making it possible to control the attitude of the drone by printing the apparatus with corresponding inclinations along roll and pitch axes to advance or retract it. The actions of the user are interpreted by the specific application software, which transforms them into control signals destined for the drone.
    As has been explained in the introduction, the high definition image delivered by the front camera 14 is particularly prone to image blur and distortion defects known as jelly and wobble producing effects which, even if they are not very accentuated, are very perceptible to the eye and quickly degrade the visual quality of the image.
    FIG. 2 illustrates in (b) the jelly type deformations and (c) the wobble type deformations observable on the image of a checkerboard represented in (a). These artifacts are specific to a rolling shutter type sensor (and not global shutter), where the lines constituting the image are not acquired at the same time for all the pixels of the image, but successively line after line (or group lines after group of lines), as the sensor sweeps in the direction De, perpendicular to the lines / ,. The movements of the drone and the vibrations occurring during the duration of the capture of an image generate within this image displacements that will not be the same from one line to the next. The jelly effect, visible in (b), appears in the presence of camera movements of high amplitude but relatively low frequency, for example in the presence of large rotations of the drone: when it rotates, between the beginning and the end of the exploration of the sensor by the shutter rolling shutter, the image will have moved several pixels (in the example of the figure, about a checkerboard tile between the top and bottom of the image). This phenomenon can be overcome by associating with each line / of the image a suitable offset as the sensor is scanned, this line-by-line correction makes it possible to cancel the jelly artifact introduced by the rapid rotation of the drone. . The other type of artifact, called "wobble effect", illustrated in (c), is the one concerned by the present invention. Unlike the jelly effect which is a low-frequency, high-amplitude effect caused by the drone's rotations to move, the wobble effect is mainly caused by motor vibrations, which introduce high-frequency oscillations ( typically of the order of 120 Hz) and of low amplitude. These vibrations are transmitted to the support of the camera, and have the effect of deforming the straight lines with appearance of waves and wave formation in the image. The wobble effect is partially corrected by appropriate mechanical damping of the camera support for filtering the engine vibrations, as described for example in WO 2011/058255 A1 (Parrot SA).
    This mechanical filtering is, in practice, not sufficient and the residues of the wobble effect must be eliminated, which can be achieved by using measurements delivered by the inertial unit of the drone, representative of the instantaneous rotations of the drone caused by the vibrations, and applying appropriate corrections according to these measurements. The gyro-meters of the inertial unit make it possible to have a precise indication of the instantaneous attitude of the drone for each of the lines, allowing an "intra-image" correction, line by line, with recalibration of successive lines. compared to others to deliver an image as close as possible to the captured scene, namely the checkerboard (a) in this example.
    The aforementioned EP 2 933 775 A1 describes such a technique for correcting the wobble using the signals delivered by the gyrometers of the inertial unit of the drone.
    In practice, however, there are some limitations of this anti-wobble correction by applying a reverse gyrometric signal.
    Indeed, it can be seen that the anti-wobble generally tends to over-compensate the image vibrations in frequency ranges close to those of the nominal frequency of rotation of the helices (that is to say of the fundamental frequency vibrations to correct), and to sub-correct the higher frequencies, beyond this frequency.
    An analysis of the response of the gyro sensor by the inventors made it possible to reveal the source of this anomaly, which resides essentially in the imperfect characteristic of the transfer function (frequency response) of this sensor.
    Referring to Figures 3a and 3b, which represent the Bode (gain and phase) diagram typical of the response of a gyrometric sensor used in an inertial unit of a consumer drone, implementing components of reduced cost.
    An ideal transfer function would present in the entire bandwidth concerned a unit gain and a linear phase.
    However, as can be seen in Figures 3a and 3b, this is not the case.
    In the illustrated example, a significant resonance (gain of the order of 1.15) at a frequency of the order of 140 Hz is noted in A on the gain characteristic (FIG. 3a), very close to the nominal frequency of rotation of the propellers of the drone, source of wobble to the image. Note also that the phase characteristic (Figure 3b) is far from linear, which also introduces a source of error in the estimation of angles, resulting in degradation of image stabilization. In addition, for frequencies above about 200 Hz, B shows a gradual drop in gain.
    These defects result in an over-correction of the wobble for frequencies around 140 Hz (frequencies which are the most critical because they correspond to the fundamental frequency of the vibrations to be filtered), and an under-correction beyond 200 Hz: in the first case, the correction introduces in the image undulations that were not initially included, while in the second case it does not sufficiently filter the undulations that are there.
    The object of the invention is to propose a technique for overcoming this disadvantage.
    FIG. 4 illustrates, in block diagram form, the various modules involved in the implementation of this invention, for the complete correction of the wobble effect on the image signal I delivered by a camera 14 comprising a sensor rolling shutter type such as the high-definition camera with frontal aim of the drone 10 of FIG.
    It will be noted that, although these diagrams are presented in the form of interconnected circuits or modules, the implementation of the various functions is essentially software, this representation having only an illustrative character.
    The camera 14, mechanically linked to the body of the drone, is subject to angular displacements of large amplitude and low frequency (displacements of the drone) as well as low amplitude and high frequency (vibration of the engines). These movements experienced by the camera are measured by an inertial unit 26 connected to the body of the drone and thus to the camera, and equipped in particular with gyrometric sensors. The measurements of these sensors are applied to a module 28 for estimating the attitude of the drone delivering indications of pitch angle φ, roll angle Θ and yaw angle ψ describing the instantaneous inclination of the drone. in all three dimensions with respect to a fixed terrestrial reference (Euler angles). These angles of rotation data are applied to a digital image data correction module 30 which provides various functions such as windowing, image stabilization, extraction and rectification of a useful area, correction of introduced geometric distortions. by the lens of the camera, etc. The module 30 outputs a useful video signal which is transmitted to the remote user for display on the screen of his remote control device and possible recording for subsequent distribution.
    The module 30 also corrects the jelly and wobble type artifacts, in particular the compensation of the wobble effect (described above with reference to FIG. 2) by applying a technique such as that described in EP 2 933 775 A1 cited above. Essentially, it is a question of applying to the image signal an inverse transform of the gyro-metric measurement so as to recalibrate the successive lines with respect to each other as a function of the variations of the instantaneous attitude of the drone of a line to another.
    The camera 14 and the inertial unit 26 are driven by a common clock module 32, the respective operating frequencies of the inertial unit and the camera being submultiples of the frequency CLK of this clock 32. It also controls the vertical camera 16, the output signal of which is applied to a module 34 providing compensation for rotations from one image to the next as a function of the estimated rotations calculated by the module 28, before calculating the horizontal speeds Vx and Vy by means of various appropriate algorithms operating by comparison of the apparent displacement between two consecutive images, recalibrated in rotation, of the terrain overflown by the drone.
    Characteristically, the invention provides for interposing between the drone angle estimation module 28 and the digital image correction module 30 a complementary filter 36 whose own transfer function will compensate for the imperfect transfer function of the drones. gyro-metric sensors of the inertial unit 26.
    The filtering is a predetermined filtering, whose transfer function has been determined after having previously identified (for example at the factory outlet) the actual transfer function of the gyrometric component used by the drone.
    FIGS. 5a and 5b illustrate the Bode diagram (gain and phase as a function of frequency) corresponding to the transfer function C2 of the compensation filter applied in accordance with the teachings of the technique of the invention. In C1, there is shown in superposition the effective transfer function of the component, which is the one that was shown and described with reference to Figures 3a and 3b.
    A complementary filter, corresponding to the transfer function C2, is generated from the function C1, and parameterized in the filtering module 36 so as to apply this complementary filtering on the successive samples of the instantaneous values reflecting the rotations of the drone in the three axes.
    The characteristic C3 of FIGS. 5a and 5b illustrates the total response, resulting from the combination of the C1 response of the gyrometric component and the C2 compensating filtering. It can be seen in particular that the application of the compensating filtering makes it possible: to eliminate the resonance hum around the critical frequency of 140 Hz, close to the nominal frequency of rotation of the helices generating the vibrations to be filtered; - to widen the bandwidth towards the high frequencies up to approximately 350 Hz, which makes it possible in particular to filter the first harmonic of the frequency of the vibrations; and linearizing the phase response, with a correlative improvement in image stabilization.
    权利要求:
    Claims (2)
    [1" id="c-fr-0001]
    1. A drone (10), comprising: - a camera (14) comprising a lens, a digital sensor on which an image of a scene is formed, and a rol-ling shutter type mechanism reading the sensor outputting line per line of video data; an inertial unit (26) comprising a gyrometric sensor capable of measuring variations in the attitude of the drone and outputting a gyrometric signal representative of the instantaneous rotations (φ, θ, ψ) of the drone with respect to a given reference mark; (UVW); and an image processing module (30) comprising an anti-wobble module receiving the video (/) data and the gyrometric signal as input, and outputting processed and corrected video data introduced by vibrations. specific to the drone, characterized in that it further comprises, at the input of the image processing module: a complementary filtering module (36) capable of applying a predetermined compensating transfer function (C2) to the gyrometric signal; input of the anti-wobble module, said predetermined transfer function (C2) being an inverse transfer function of the frequency response (C1) of said gyrometric sensor of the inertial unit.
    [2" id="c-fr-0002]
    2. A method for correcting a wobble-type artifact introduced by vibrations specific to a drone (10) in a digital image (/) collected by a rolling shutter-type digital sensor of a camera (14) of said drone, wherein the drone comprises an inertial unit (26) comprising a gyrometric sensor capable of measuring variations in the attitude of the drone and outputting a gyrometric signal representative of the instantaneous rotations {φ, θ, ψ) of the drone with respect to a given reference (UVW), this method being characterized in that it comprises: a) in a preliminary step: a1) measuring the frequency response (C1) of said gyro-metric sensor of the inertial unit; a2) generating a digital filter having a compensating transfer function (C2) inverse to said frequency response (C1) of the gyro sensor; and a3) loading said digital filter in a complementary filtering module (36) at the input of an antwonble module (30) of the drone, and b) during operation of the drone, continuously and in real time: b1) collecting the gyrometric signal delivered by the inertial unit (26) of the drone; b2) applying, to the gyrometric signal collected in step b1), the compensating transfer function (C2) loaded in the digital filter (36) in step a3); and b3) applying, to the anti-wobble module (30) of the drone, the gyrometric signal filtered in step b2).
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP3171589A1|2017-05-24|
    CN106791363A|2017-05-31|
    FR3044141B1|2017-12-08|
    US10165185B2|2018-12-25|
    JP2017142226A|2017-08-17|
    US20170150053A1|2017-05-25|
    EP3171589B1|2018-06-06|
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    法律状态:
    2016-11-21| PLFP| Fee payment|Year of fee payment: 2 |
    2017-05-26| PLSC| Search report ready|Effective date: 20170526 |
    2017-07-07| TP| Transmission of property|Owner name: PARROT DRONES, FR Effective date: 20170606 |
    2017-11-08| PLFP| Fee payment|Year of fee payment: 3 |
    2018-11-20| PLFP| Fee payment|Year of fee payment: 4 |
    2020-10-16| ST| Notification of lapse|Effective date: 20200906 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1561219A|FR3044141B1|2015-11-23|2015-11-23|DRONE PROVIDED WITH A VIDEO CAMERA DELIVERING CORRECTED IMAGE SEQUENCES OF THE WOBBLE EFFECT|FR1561219A| FR3044141B1|2015-11-23|2015-11-23|DRONE PROVIDED WITH A VIDEO CAMERA DELIVERING CORRECTED IMAGE SEQUENCES OF THE WOBBLE EFFECT|
    US15/333,014| US10165185B2|2015-11-23|2016-10-24|Drone equipped with a video camera sending sequences of images corrected for the wobble effect|
    EP16196915.9A| EP3171589B1|2015-11-23|2016-11-02|Drone equipped with a video camera sending sequences of images corrected for the wobble effect|
    CN201611041656.3A| CN106791363A|2015-11-23|2016-11-22|It is equipped with the unmanned plane for sending the video camera for correcting the image sequence for rocking effect|
    JP2016226425A| JP2017142226A|2015-11-23|2016-11-22|Drone equipped with video camera sending sequence of image corrected for wobble effect|
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