Method and apparatus for obtaining range image with uav, and uav

An apparatus for obtaining a range image with an unmanned aerial vehicle UAV, comprising:

• a reading module, configured to read an image sequence of a predetermined scene collected by an airborne camera of the UAV, wherein the Nth image and the (N+1)th image of the image sequence have an overlapping region, and a ratio of an area of the overlapping region to an area of the Nth image or a ratio of the area of the overlapping region to an area of the (N+1)th image is greater than a preset ratio;
• a calculation module, configured to obtain, for each pixel point in the overlapped region, position changing information of the pixel point in the (N+1)th image with respect to the Nth image and to obtain a pixel movement velocity of each pixel point in the overlapped region in a camera coordinate system of the UAV according to the position changing information;
• a measurement module, configured to obtain an actual flying velocity of the UAV in a world coordinate system;
• and
• an image generating module, configured to obtain a range image of each overlapped region according to the pixel movement velocity of each pixel point in the overlapped region in the camera coordinate system of the UAV, the actual flying velocity of the UAV in the word coordinate system, and parameters of the airborne camera and to obtain a range image of the preset scene through integrating the range image of each overlapped region.

An unmanned aerial vehicle UAV, comprising:

• an airborne camera, configured to collect an image sequence of a preset scene;
• a velocity measurement device, configured to measure or calculate an actual flying velocity of the UAV in a world coordinate system;
• a processor, configured to perform a method for obtaining a range image with an unmanned aerial vehicle UAV;
• an airframe, configured to install the airborne camera, the velocity measurement device and the processor, wherein the method comprises:
• reading an image sequence of a predetermined scene collected by an airborne camera of the UAV, wherein the Nth image and the (N+1)th image of the image sequence have an overlapping region, and a ratio of an area of the overlapping region to an area of the Nth image or a ratio of the area of the overlapping region to an area of the (N+1)th image is greater than a preset ratio;
• for each pixel point in the overlapped region, obtaining position changing information of the pixel point in the (N+1)th image with respect to the Nth image and obtaining a pixel movement velocity of each pixel point in the overlapped region in a camera coordinate system of the UAV according to the position changing information;
• obtaining an actual flying velocity of the UAV in a world coordinate system;
• obtaining a range image of each overlapped region according to the pixel movement velocity of each pixel point in the overlapped region in the camera coordinate system of the UAV, the actual flying velocity of the UAV in the word coordinate system and parameters of the airborne camera, and obtaining a range image of the preset scene through integrating the range image of each overlapped region.