# US 12,114,109 B2 · Image color adjustment method and apparatus and unmanned aerial vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,114,109 B2 - Document ID: US12114109B2 - Status: Granted - Kind: B2 - Application number: 17/526,138 - Filed: 2021-11-15 - Published: 2022-03-10 - Granted: 2024-10-08 - Earliest claimed: 2019-05-15 - Assignees: Autel Robotics Co., Ltd. - Applicants: Autel Robotics Co., Ltd. - Inventors: Defei Jiang - Web page: https://patentgrep.com/patent/US12114109B2 ## CPC - H04N 9/77: Circuits for processing the brightness signal and the chrominance signal relative to each other, e.g. adjusting the phase of the brightness signal relative to the colour signal, correcting differential gain or differential phase (circuits for matrixing H04N9/67) - H04N 23/88: for colour balance, e.g. white-balance circuits or colour temperature control - B64C 39/024: {of the remote controlled vehicle type, i.e. RPV} - B64D 47/08: Arrangements of cameras - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - H04N 23/76: by influencing the image signals - H04N 23/84: for processing colour signals - B64U 10/13: Flying platforms - B64U 30/20: Rotors; Rotor supports - B64U 50/19: using electrically powered motors - B64U 60/40: foldable or retractable - B64U 60/50: with landing legs - B64U 2101/30: for imaging, photography or videography - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B64C: AEROPLANES; HELICOPTERS - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Embodiments of the disclosure relate to the field of image processing technologies, and disclose an image color adjustment method and apparatus and an unmanned aerial vehicle (UAV). The image color adjustment method is applicable to an image collection device. The method includes: determining a current photographing parameter of the image collection device during collection of a to-be-processed image, where the current photographing parameter includes a current exposure and a current color temperature; selecting, according to the current exposure and the current color temperature, an optimal color channel gain matching the current exposure and the current color temperature; and adjusting a color of the to-be-processed image according to the optimal color channel gain. ## Claims ### Claim 1 An image color adjustment method, applicable to an image collection device of an unmanned aerial vehicle (UAV), the method comprising: determining a current photographing parameter of the image collection device during collection of a to-be-processed image, wherein the current photographing parameter comprises a current exposure and a current color temperature; selecting, according to the current exposure and the current color temperature, an optimal color channel gain matching the current exposure and the current color temperature; and adjusting a color of the to-be-processed image according to the optimal color channel gain; wherein the selecting, according to the current exposure and the current color temperature, an optimal color channel gain matching the current exposure and the current color temperature further comprises: determining, as a target color temperature index interval, a candidate color temperature index interval comprising the current color temperature, wherein the candidate color temperature index interval corresponds to at least two candidate exposures, and each of the at least two candidate exposures corresponds to one candidate color channel gain; determining, as a target exposure, a candidate exposure matching the current exposure from the at least two candidate exposures corresponding to the target color temperature index interval; and selecting, as the optimal color channel gain, a candidate color channel gain corresponding to the target exposure. ### Claim 2 (depends on 1) The method according to claim 1, further comprising: when the candidate exposures corresponding to the target color temperature index interval do not comprise the candidate exposure matching the current exposure, calculating a target color channel gain corresponding to the current exposure by means of interpolation calculation, and selecting the target color channel gain as the optimal color channel gain. ### Claim 3 (depends on 2) The method according to claim 2, wherein the candidate color channel gain comprises a color channel type and a gain adjustment value corresponding to the color channel type. ### Claim 4 (depends on 3) The method according to claim 3, wherein the calculating a target color channel gain corresponding to the current exposure by means of interpolation calculation comprises: determining, as reference color channel gains, at least two candidate color channel gains having a same color channel type from candidate color channel gains corresponding to the target color temperature index interval; determining, as reference exposures, candidate exposures corresponding to the reference color channel gains; constructing an interpolation function according to the reference exposures and gain adjustment values of the reference color channel gains; and calculating the target color channel gain corresponding to the current exposure according to the interpolation function and the current exposure. ### Claim 5 (depends on 3) The method according to claim 3, wherein the color channel type comprises a red channel or a blue channel; and the adjusting a color of the to-be-processed image according to the optimal color channel gain comprises: when a color channel type of the optimal color channel gain is a red channel, increasing or reducing a color value of the red channel by using the gain adjustment value; or when a color channel type of the optimal color channel gain is a blue channel, increasing or reducing a color value of the blue channel by using the gain adjustment value. ### Claim 6 (depends on 5) The method according to claim 5, wherein when the color channel type of the optimal color channel gain is a red channel, the color of the to-be-processed image is redder or greener. ### Claim 7 (depends on 5) The method according to claim 5, wherein when the color channel type of the optimal color channel gain is a blue channel, the color of the to-be-processed image is bluer or yellower. ### Claim 8 (depends on 1) The method according to claim 1, wherein before the determining a current photographing parameter of the image collection device during collection of a to-be-processed image, the method further comprises: adjusting the to-be-processed image by means of automatic exposure and automatic white balancing. ### Claim 9 (depends on 1) The method according to claim 1, wherein the determining a current color temperature of the image collection device during collection of a to-be-processed image comprises: calculating a ratio of a predefined-color average value to a green-color average value for all white pixels in the to-be-processed image, wherein the white pixels are pixels in a predefined high grayscale range; acquiring a preset color temperature curve; and determining the current color temperature according to the preset color temperature curve and the ratio. ### Claim 10 (depends on 9) The method according to claim 9, wherein the predefined-color average value comprises a red-color average value or a blue-color average value. ### Claim 11 An image color adjustment apparatus, applied to an image collection device of a UAV, the apparatus comprising: at least one processor; and a memory, communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, where execution of the instructions by the at least one processor causes the at least one processor to: determine a current photographing parameter of the image collection device during collection of a to-be-processed image, wherein the current photographing parameter comprises a current exposure and a current color temperature; select, according to the current exposure and the current color temperature, an optimal color channel gain matching the current exposure and the current color temperature; and adjust a color of the to-be-processed image according to the optimal color channel gain; the processor is further configured to: determine, as a target color temperature index interval, a candidate color temperature index interval comprising the current color temperature; wherein the candidate color temperature index interval corresponds to at least two candidate exposures, and each of the at least two candidate exposures corresponds to one candidate color channel gain; determine, as a target exposure, a candidate exposure matching the current exposure from the at least two candidate exposures corresponding to the target color temperature index interval; and select, as the optimal color channel gain, a candidate color channel gain corresponding to the target exposure. ### Claim 12 (depends on 11) The apparatus according to claim 11, wherein the processor is further configured to: when the candidate exposures corresponding to the target color temperature index interval do not comprise the candidate exposure matching the current exposure, calculate a target color channel gain corresponding to the current exposure by means of interpolation calculation, and select the target color channel gain as the optimal color channel gain. ### Claim 13 (depends on 12) The apparatus according to claim 12, wherein the candidate color channel gain comprises a color channel type and a gain adjustment value corresponding to the color channel type. ### Claim 14 (depends on 13) The apparatus according to claim 13, wherein the processor is further configured to: determine, as reference color channel gains, at least two candidate color channel gains having a same color channel type from candidate color channel gains corresponding to the target color temperature index interval; determine, as reference exposures, candidate exposures corresponding to the reference color channel gains; construct an interpolation function according to the reference exposures and gain adjustment values of the reference color channel gains; and calculate the target color channel gain corresponding to the current exposure according to the interpolation function and the current exposure. ### Claim 15 (depends on 13) The apparatus according to claim 13, wherein the color channel type comprises a red channel or a blue channel; and the processor is further configured to: when a color channel type of the optimal color channel gain is a red channel, increase or reduce a color value of the red channel by using the gain adjustment value; or when a color channel type of the optimal color channel gain is a blue channel, increase or reduce a color value of the blue channel by using the gain adjustment value. ### Claim 16 (depends on 15) The apparatus according to claim 15, wherein when the color channel type of the optimal color channel gain is a red channel, the color of the to-be-processed image is redder or greener. ### Claim 17 (depends on 15) The apparatus according to claim 15, wherein when the color channel type of the optimal color channel gain is a blue channel, the color of the to-be-processed image is bluer or yellower. ### Claim 18 (depends on 1) The apparatus according to claim 1, wherein the processor is further configured to: before the current photographing parameter of the image collection device during collection of the to-be-processed image is determined, adjust the to-be-processed image by means of automatic exposure and automatic white balancing. ### Claim 19 (depends on 11) The apparatus according to claim 11, wherein the processor is further configured to: calculate a ratio of a predefined-color average value to a green-color average value for all white pixels in the to-be-processed image, wherein the white pixels are pixels in a predefined high grayscale range; acquire a preset color temperature curve; and determine the current color temperature according to the preset color temperature curve and the ratio. ### Claim 20 (depends on 19) The apparatus according to claim 19, wherein the predefined-color average value comprises a red-color average value or a blue-color average value. ### Claim 21 A UAV, comprising: a fuselage; an arm, connected to the fuselage; a power apparatus, disposed on the arm; and an image collection device, connected to the fuselage, wherein the image collection device comprises: at least one processor; and a memory, communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, where execution of the instructions by the at least one processor causes the at least one processor to: determine a current photographing parameter of the image collection device during collection of a to-be-processed image, wherein the current photographing parameter comprises a current exposure and a current color temperature; select, according to the current exposure and the current color temperature, an optimal color channel gain matching the current exposure and the current color temperature; and adjust a color of the to-be-processed image according to the optimal color channel gain; the processor is further configured to: determine, as a target color temperature index interval, a candidate color temperature index interval comprising the current color temperature; wherein the candidate color temperature index interval corresponds to at least two candidate exposures, and each of the at least two candidate exposures corresponds to one candidate color channel gain; determine, as a target exposure, a candidate exposure matching the current exposure from the at least two candidate exposures corresponding to the target color temperature index interval; and select, as the optimal color channel gain, a candidate color channel gain corresponding to the target exposure.