Method and device for controlling unmanned aerial vehicle with gesture
First Claim
1. A method for controlling an unmanned aerial vehicle with a gesture, wherein the unmanned aerial vehicle is provided with a camera and the method comprises:
- detecting a gesture in an image by using a gesture detection framework;
judging whether the gesture is a predetermined gesture for controlling the unmanned aerial vehicle;
acquiring a motion trajectory of the gesture in a case that it is judged that the gesture is the predetermined gesture for controlling the unmanned aerial vehicle; and
controlling, based on the motion trajectory of the gesture, the unmanned aerial vehicle to perform a control operation corresponding to the motion trajectory of the gesture, wherein the motion trajectory of the gesture and the control operation corresponding thereto are predetermined;
wherein the motion trajectory of the gesture is a motion trajectory formed by alternate operations of two gestures H1 and H2; and
wherein the acquiring a motion trajectory of the gesture comprises;
acquiring M H1s from the image, and judging whether a frame span K of the M H1s is smaller than a preset number N of frames, wherein M and N each are integers;
dividing K into (M−
1) intervals equally and judging whether each of the (M−
1) intervals comprises H2, in a case that it is judged that the frame span K of the M H1s is smaller than the preset number N of frames; and
judging that the alternate operations of the two gestures H1 and H2 occurs and determining the motion trajectory of the gesture based on the alternate operations of the two gestures H1 and H2, in a case that it is judged that each of the (M−
1) intervals comprises H2.
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Accused Products
Abstract
A method and device for controlling an unmanned aerial vehicle with a gesture are provided. A camera is arranged in the unmanned aerial vehicle, and the method includes: detecting a gesture in an image by using a gesture detection framework; judging whether the gesture is a predetermined gesture for controlling the unmanned aerial vehicle; acquiring a motion trajectory of the gesture in a case that it is determined that the gesture is the predetermined gesture for controlling the unmanned aerial vehicle; and controlling, based on the motion trajectory of the gesture, the unmanned aerial vehicle to perform a control operation corresponding to the motion trajectory of the gesture, where a correspondence between a motion trajectory of a gesture and a control operation is predetermined.
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Citations
4 Claims
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1. A method for controlling an unmanned aerial vehicle with a gesture, wherein the unmanned aerial vehicle is provided with a camera and the method comprises:
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detecting a gesture in an image by using a gesture detection framework; judging whether the gesture is a predetermined gesture for controlling the unmanned aerial vehicle; acquiring a motion trajectory of the gesture in a case that it is judged that the gesture is the predetermined gesture for controlling the unmanned aerial vehicle; and controlling, based on the motion trajectory of the gesture, the unmanned aerial vehicle to perform a control operation corresponding to the motion trajectory of the gesture, wherein the motion trajectory of the gesture and the control operation corresponding thereto are predetermined; wherein the motion trajectory of the gesture is a motion trajectory formed by alternate operations of two gestures H1 and H2; and wherein the acquiring a motion trajectory of the gesture comprises; acquiring M H1s from the image, and judging whether a frame span K of the M H1s is smaller than a preset number N of frames, wherein M and N each are integers; dividing K into (M−
1) intervals equally and judging whether each of the (M−
1) intervals comprises H2, in a case that it is judged that the frame span K of the M H1s is smaller than the preset number N of frames; andjudging that the alternate operations of the two gestures H1 and H2 occurs and determining the motion trajectory of the gesture based on the alternate operations of the two gestures H1 and H2, in a case that it is judged that each of the (M−
1) intervals comprises H2.
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2. A device for controlling an unmanned aerial vehicle with a gesture, wherein the unmanned aerial vehicle is provided with a camera and the device comprises:
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a gesture detecting unit configured to detect a gesture in an image by using a gesture detection framework; a gesture judging unit configured to judge whether the gesture is a predetermined gesture for controlling the unmanned aerial vehicle; a gesture motion trajectory acquiring unit configured to acquire a motion trajectory of the gesture in a case that it is judged that the gesture is the predetermined gesture for controlling the unmanned aerial vehicle; and a control unit configured to control the unmanned aerial vehicle to perform a control operation corresponding to the motion trajectory of the gesture based on the motion trajectory of the gesture, wherein the motion trajectory of the gesture and the control operation corresponding thereto are predetermined; wherein the motion trajectory of the gesture is a motion trajectory formed by alternate operations of two gestures H1 and H2; and wherein the gesture motion trajectory acquiring unit comprises; a frame acquiring subunit configured to acquire M H1s from the image; a first judging subunit configured to judge whether a frame span K of the M H1s is smaller than a preset number N of frames, wherein M and N each are integers; a second judging subunit configured to divide K into (M−
1) intervals equally and judge whether each of the (M−
1) intervals comprises H2, in a case that the first judging subunit determines that the frame span K of the M H1s is smaller than the preset number N of frames; anda determining subunit configured to determine that alternate operations of two gestures H1 and H2 occurs, and determine the motion trajectory of the gesture based on the alternate operations of H1 and H2, in a case that the second judging subunit judges that each of the (M−
1) intervals includes H2.
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3. A method for controlling an unmanned aerial vehicle with a gesture, wherein the unmanned aerial vehicle is provided with a camera and the method comprises:
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detecting a gesture in an image by using a gesture detection framework; judging whether the gesture is a predetermined gesture for controlling the unmanned aerial vehicle; acquiring a motion trajectory of the gesture in a case that it is judged that the gesture is the predetermined gesture for controlling the unmanned aerial vehicle; and controlling, based on the motion trajectory of the gesture, the unmanned aerial vehicle to perform a control operation corresponding to the motion trajectory of the gesture, wherein the motion trajectory of the gesture and the control operation corresponding thereto are predetermined; wherein the motion trajectory of the gesture is the motion trajectory formed by the motion of the single gesture; wherein the acquiring a motion trajectory of the gesture comprises; obtaining a motion parameter of a gesture in a current frame relative to a gesture in a last frame based on the gesture in the current frame and the gesture in the last frame, wherein the motion parameter comprises a rotation matrix R and a translation vector T; accumulating motion parameters between every two adjacent frames from the first frame to the current frame; and obtaining the motion trajectory of the gesture based on the accumulated motion parameters; and wherein the obtaining a motion parameter of a gesture in a current frame relative to a gesture in a last frame based on the gesture in the current frame and the gesture in the last frame comprises; extracting, by a feature extractor, feature point from regions where the gestures are located with respect to images in the current frame and in the last frame calculating, by a feature descriptor, a feature vector based on the feature points; performing a brute force match on the feature vector, and filtering out a wrong matching point in a brute force matching result using a outlier detection method, to obtain a filtered matching point pair; and calculating an eigenmatrix E using the matching point and obtaining R and T by decomposing E. - View Dependent Claims (4)
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Specification