| 摘要 |
Method for acquiring images of a photographic target from arbitrary perspectives with an unmanned aerial vehicle (UAV) equipped with at least one image acquisition device having a fixed acquisition direction with respect to the vehicle, comprising the steps of:
- from a set of parameters pertaining to the desired photographic target, from the desired perspective and from the relative orientation of the image acquisition device with respect to the UAV, computing a target UAV position and an orientation required to acquire a desired slanted image
- navigating using the automatic navigation means to said target UAV position,
- modifying at least one of the pitch, roll or yaw angle of the UAV in order to modify the acquisition direction to point toward the photographic target,
- acquiring images when the acquisition direction points toward the photographic target with the desired perspective,
- starting recovery phase by controlling the UAV back to cruise attitude and navigate back to some predefined flight path. |
