Title:
METHOD AND DEVICE FOR CONTROLLING UNMANNED AERIAL VEHICLE TO ROTATE ALONG WITH FACE
Document Type and Number:
WIPO Patent Application WO/2017/049816
Kind Code:
A1
Abstract:
A method and device for controlling an unmanned aerial vehicle to rotate along with a face. A camera is disposed on the unmanned aerial vehicle. The method comprises: detecting a human face in an image by means of a Viola-Jones human face detection framework (S101); tracking the human face, and determining two-dimensional coordinates of the five sense organs of the human face in the image (S102); obtaining three-dimensional coordinates of the five sense organs of the human face in a world coordinate system by searching in a three-dimensional human face standard library, the three-dimensional human face standard library being obtained in advance (S103); obtaining three-dimensional coordinates of the human face relative to the camera on the unmanned aerial vehicle according to the two-dimensional coordinates of the five sense organs of the human face in the image and the three-dimensional coordinates of the five sense organs of the human face in the world coordinate system (S104); and controlling, according to the three-dimensional coordinates of the human face relative to the camera on the unmanned aerial vehicle, the unmanned aerial vehicle to perform position adjustment to enable the camera to be aligned with the human face (S105). In a process in which the unmanned aerial vehicle tracks a user to take pictures or record videos, the unmanned aerial vehicle can move along with the rotation of the human face, and it is ensured that a camera lens of the camera on the unmanned aerial vehicle is always directly aligned with the face of the user.
Inventors:
WANG MENGQIU (CN)
ZHANG TONG (CN)
LI QICHENG (CN)
LU JIA (CN)
LIU LIXIN (CN)
ZHANG TONG (CN)
LI QICHENG (CN)
LU JIA (CN)
LIU LIXIN (CN)
Application Number:
PCT/CN2016/070582
Publication Date:
March 30, 2017
Filing Date:
January 11, 2016
Export Citation:
Assignee:
BEIJING ZERO ZERO INFINITY TECH CO LTD (CN)
International Classes:
G06F3/01; G06V20/13; G06V20/17
Foreign References:
| CN105117022A | 2015-12-02 | |||
| CN104850234A | 2015-08-19 | |||
| CN104794468A | 2015-07-22 | |||
| CN103905733A | 2014-07-02 | |||
| CN104917966A | 2015-09-16 | |||
| US20110175999A1 | 2011-07-21 |
Other References:
HORAUD, R. ET AL.: "Camera Cooperation for Achieving Visual Attention", MACHINE VISION AND APPLICATIONS., vol. 16, no. 6, 31 December 2006 (2006-12-31), pages 331 - 342, XP019323914, ISSN: 0932-8092
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
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