Flight device, flight control system and method

A flight device, comprising:

• a processor;
• and
• a memory communicably connected with the processor, the memory storing instructions, wherein when execution of the instructions by the processor causes the processor to:
• acquire an image captured by a binocular camera module of the flight device;
• determine a scene in which the flight device is currently located;
• determine a height of the flight device according to depth-of-field information of the image captured by the binocular camera module;
• calculate an image first direction offset and an image second direction offset of a second image frame of two adjacent image frames relative to a first image frame of the two adjacent image frames, according to the two adjacent image frames captured by the binocular camera module and the scene in which the flight device is currently located;
• acquire an acceleration and an angular velocity of the flight device in three dimensions that are detected by an acceleration sensor of the flight device;
• and compensating for the image first direction offset and the image second direction offset, according to the acceleration and the angular velocity of the flight device, so as to obtain image correction offsets comprising a corrected image first direction offset and a corrected image second direction offset;
• and
• calculate a first direction offset and a second direction offset in world coordinates corresponding to the image correction offsets according to a lens focal length of the binocular camera module, a height of the flight device and the image correction offsets;
• and deriving a velocity of the flight device according to a time interval between time points at which the two adjacent image frames are captured and according to the first direction offset and the second direction offset in world coordinates.