| 主权项 |
1. A rotary-wing drone (10), comprising:
a camera (14), including a hemispherical-field lens of the fisheye type pointing to a fixed direction (Δ) with respect to the drone body, as well as a digital sensor acquiring the image (I) formed by the lens and delivering raw pixel data; image processing means (156), receiving as an input the raw pixel data and delivering as an output rectified pixel data, compensated for the geometric distortions introduced by the fisheye lens; means (158) for delivering as an output rectified pixel data, for transmission to a display or video-recording device; an inertial unit (154), adapted to measure the Euler angles (φ, θ, ψ) characterizing the attitude of the drone with respect to an absolute terrestrial reference system; and control means (152), receiving as an input at least one Euler angle delivered by the inertial unit (154), and adapted to window the pixel data delivered as an output by the delivery means as a function of changes of attitude of the drone detected by the inertial unit, characterized in that: the digital sensor is a scanning sensor delivering line by line said raw pixel data; the drone further includes extraction means (152), receiving as an input a selection signal defining over the sensor extent the position of a capturing area (ZC) of reduced size, and delivering as an output said raw pixel data, which correspond to the capture area of reduced size; the servo-control means (152) are means adapted to dynamically modify said selection signal in a direction opposite to that of a change of attitude of the drone detected by the inertial unit and characterized by a corresponding variation of said at least one Euler angle; and said image processing means (156) receive as an input the raw pixel data delivered by the extraction means. |
