ROTARY-WING DRONE PROVIDED WITH A VIDEO CAMERA SUPPLYING STABILISED IMAGE SEQUENCES

摘要

The drone (10) comprises a camera with a hemispherical-field lens of the fisheye type pointing to a fixed direction (&Dgr;) with respect to the drone body. A capture area (36) of reduced size is extracted from the image formed by this lens (42), the position of this area being function of the signals delivered by an inertial unit measuring the Euler angles characterizing the attitude of the drone with respect to an absolute terrestrial reference system. The position of this area is dynamically modified in a direction (44) opposite to that of the changes of attitude (38) of the drone detected by the inertial unit. The raw pixel data are then processed to compensate for the geometric distortions introduced by the fisheye lens in the image acquired in the region of the capture area.