# US 10,122,949 B2 · High-resolution camera unit for a drone, with correction of the wobble-type distortions > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,122,949 B2 - Document ID: US10122949B2 - Status: Granted - Kind: B2 - Application number: 15/188,441 - Filed: 2016-06-21 - Published: 2017-01-05 - Granted: 2018-11-06 - Earliest claimed: 2015-06-30 - Assignees: Parrot Drones - Applicants: Parrot Drones - Inventors: Eng Hong Sron - Web page: https://patentgrep.com/patent/US10122949B2 ## CPC - G06T 3/00: Geometric image transformations in the plane of the image - B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals - G06T 5/50: using two or more images, e.g. averaging or subtraction - H04N 23/60: Control of cameras or camera modules - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - H04N 25/60: Noise processing, e.g. detecting, correcting, reducing or removing noise - B64U 10/25: Fixed-wing aircraft (VTOL aircraft B64U10/20) - B64U 2101/32: for cartography or topography - B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS - G06T 2207/10032: Satellite or aerial image; Remote sensing - G06T 2207/30181: Earth observation - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract This camera unit (14) comprises a high-resolution rolling shutter camera (16) and one or several low-resolution global shutter cameras (18), for example monochromic spectral cameras. All the cameras are oriented in the same direction and are able to be triggered together to collect simultaneously a high-resolution image (I0) and at least one low-resolution image (I1-I4) of a same scene viewed by the drone. Image processing means (22) determine the distortions of the wobble type present in the high-resolution image and absent from the low-resolution images, and combine the high-resolution image (I0) and the low-resolution images (I1-I4) to deliver as an output a high-resolution image (I′0) corrected for these distortions. ## Claims ### Claim 1 A camera unit (14) adapted to be placed on board a drone (10), comprising: a camera of the rolling shutter type (16) including a digital sensor of a first, high resolution; and at least one camera of the global shutter type (18) including a digital sensor of a second, low resolution, lower than said first resolution, the rolling shutter camera and the at least one global shutter having their optical axes oriented in the same direction and being able to be triggered together so as to collect simultaneously a high-resolution image (I0) and at least one low-resolution image (I1-I4) of a same scene (12) viewed by the drone, image processing means (22), adapted to: determine distortions of the wobble type present in the high-resolution image and absent from the at least one low-resolution image; combine the high-resolution image (I0) and the at least one low-resolution image (I1-I4) to deliver as an output a high-resolution image (I′0) corrected for said distortions; construct (206) a representation of the scene from the at least one low-resolution image (I1-I4); determine (212) the movements of the camera unit undergone for the duration of the high-resolution image (I0) collection, from signals delivered by gyrometer, accelerometer and/or geolocation sensors; and project point by point (214), taking said movements into account, each pixel of the high-resolution image (I0) as a texture on said representation of the scene constructed from the at least one low-resolution image (I1-I4). ### Claim 2 (depends on 1) The camera unit of claim 1, wherein the rolling shutter camera (16) is an RGB camera. ### Claim 3 (depends on 1) The camera unit of claim 1, wherein the at least one global shutter camera (18) is a monochromic camera. ### Claim 4 (depends on 3) The camera unit of claim 3, wherein the at least one global shutter camera (18) is a set of four narrow-band spectral cameras. ### Claim 5 (depends on 1) The camera unit of claim 1, wherein the resolution of the sensor of the rolling shutter camera (16) is of at least 12 Mpixel. ### Claim 6 (depends on 1) The camera unit of claim 1, wherein the resolution of the sensor of the at least one global shutter camera (18) is of at least 1 Mpixel. ### Claim 7 An image processing method, comprising: acquiring (102; 204) an image (I0) at a first, high resolution, delivered by a camera of the rolling shutter type (16); acquiring (102; 202) at least one image (I1-I4) at a second, low resolution, lower than said first resolution, delivered by at least one respective camera of the global shutter type (18), the rolling shutter camera and the at least one global shutter camera having their optical axes oriented in the same direction and being able to be triggered together so as to collect simultaneously said high-resolution image (I0) and said at least one low-resolution image (I1-I4) of a same scene (12) viewed by the drone, characterized in that it further comprises: determining distortions of the wobble type present in the high-resolution image and absent from the at least one low-resolution image; combining the high-resolution image (I0) and of the at least one low-resolution image (I1-I4) to deliver as an output a high-resolution image corrected for said distortions; constructing (206) a representation of the scene from the at least one low-resolution image (I1-I4); determining (212) the movements of the camera unit undergone for the duration of the low-resolution image (I0) collection, from signals delivered by gyrometer, accelerometer and/or geolocation sensors; and projecting point by point (214), taking said movements into account, each pixel of the high-resolution image (I0) as a texture on said representation of the scene constructed from the at least one low-resolution image (I1-I4).