Mobile appratus, in particular a rotary-wing drone, provided with a video camera delivering sequences of images dynamically corrected for the wobble effect

A mobile apparatus, in particular a motorized flying device such as a drone, including:

• a camera (10) comprising a lens, a digital sensor on which is formed an image of a scene during a given exposure time (texp), and a mechanism for reading the sensor of the rolling-shutter type delivering as an output. line by line, video data (Scam);
• an exposure control circuit (22), comprising a servomechanism adapted to dynamically adjust the exposure time (texp) as a function of the level of illumination of the scene that is captured;
• a gyrometer unit (12) adapted to deliver a gyrometer signal (Sgyro) representative of the instantaneous variations of the attitude (φ, θ, ψ) of the mobile apparatus:
• and
• an image processing circuit (18), comprising an anti-wobble filter (24), receiving as an input the video data (Scam) and the gyrometer signal (Sgyro), and delivering as an output video data processed and corrected for artefacts introduced by vibrations specific to the mobile apparatus,
• characterized in that the anti-wobble filter (24) is adapted to dynamically modify the gain of the gyrometer signal applied at the input of the image processing circuit as a function of the exposure time (texp) determined by the exposure control circuit, so as to reduce the gain of the filter when the exposure time increases, and vice versa.