Title:
DEPTH IMAGE PROCESSING METHOD AND DEVICE, AND UNMANNED AERIAL VEHICLE
Document Type and Number:
WIPO Patent Application WO/2020/135797
Kind Code:
A1
Abstract:
Provided is a depth image processing method for an unmanned aerial vehicle. The method comprises: correcting an image of a target region acquired by an image acquisition device (30) (S1); performing binocular matching on the image so as to obtain a depth image of the target region (S2); and acquiring distribution of obstacles around an unmanned aerial vehicle (100) according to the depth image (S3). The respective execution times (t1, t2, t3) of the above steps are acquired before the steps are executed. At least two threads and at least one circular queue are established according to the execution times (t1, t2, t3) of the steps. The steps are respectively executed by the at least two threads, so as to reduce the total execution time. The steps of depth image processing are respectively executed by the at least two threads, and one thread acquires a processing result of another thread by means of the at least one circular queue. The method of including a circular queue and running multiple threads in parallel resolves the problem in which image processing is blocked, thereby reducing time delay. Further disclosed are a depth image processing device for an unmanned aerial vehicle, an unmanned aerial vehicle implementing the depth image processing method, and a non-volatile computer-readable storage medium storing computer-executable instructions that enable the unmanned aerial vehicle to implement the depth image processing method.
Inventors:
LI ZHAOZAO (CN)
Application Number:
PCT/CN2019/129562
Publication Date:
July 02, 2020
Filing Date:
December 28, 2019
Export Citation:
Assignee:
AUTEL ROBOTICS CO LTD (CN)
International Classes:
G01C11/04; B64D47/08; G06T7/55; G06T7/73; H04N13/239
Domestic Patent References:
| WO2011075368A1 | 2011-06-23 |
Foreign References:
| CN109631853A | 2019-04-16 | |||
| CN107703951A | 2018-02-16 | |||
| CN106358003A | 2017-01-25 | |||
| CN108733344A | 2018-11-02 | |||
| CN106384382A | 2017-02-08 | |||
| CN109034018A | 2018-12-18 | |||
| US20140337848A1 | 2014-11-13 |
Other References:
See also references of EP 3889544A4
Attorney, Agent or Firm:
LIUJIA CHINA IP LAW OFFICE (CN)
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