公开(公告)号：EP3349086A1

公开(公告)日：2018-07-18

申请号：EP17305051.9

申请日：2017-01-17

申请人： Thomson Licensing

发明人： GALVANE, Quentin ,  SERVANT, Fabien ,  FLEUREAU, Julien ,  CHRISTIE, Marc ,  GUILLOTEL, Philippe ,  TARIOLLE, Francois-Louis

IPC分类号： G05D1/00 ,  G05D1/10

CPC分类号： G06T7/70 ,  B64C39/024 ,  B64C2201/127 ,  B64C2201/146 ,  G05D1/0094 ,  G06T2207/30241 ,  H04N5/232061 ,  H04N5/23299 ,  H04N5/247

摘要： A method and device for determining a trajectory of a first camera in a three-dimensional scene, said 3D scene comprising at least one object of interest, a pose information being associated with said at least one object of interest, the method comprising determining a set of points of said 3D scene, said set of points representing of a collision-free space of said 3D scene; and determining said trajectory in said 3D scene, said trajectory having a starting point and an ending point, said trajectory being defined with a plurality of points selected within said set, said plurality of points being selected according to a difference of said pose information defined in an image space between pairs of selected points from said starting point to said ending point, said image space being associated with an image of at least a part of said scene acquired with said first camera.

公开(公告)号：EP3015147A1

公开(公告)日：2016-05-04

申请号：EP15190258.2

申请日：2015-10-16

申请人： Thomson Licensing

发明人： TARIOLLE, Francois-Louis ,  MOLLET, Nicolas ,  FLEUREAU, Julien

IPC分类号： A63H27/00 ,  G05D1/00 ,  H04N5/232

CPC分类号： H04N7/183 ,  A63H27/12 ,  G05D1/0094 ,  G05D1/101 ,  G06T2207/10004 ,  G06T2207/30241

摘要： For generating a target trajectory of a drone equipped with a vehicle, the drone moving in an indoor or outdoor environment, the method comprises acquiring (S1) an approximate trajectory of the target trajectory by moving manually an object in the environment and capturing the movement of the object; identifying (S2), in the approximate trajectory, at least one trajectory segment corresponding substantially to at least one predefined camera movement pattern; and replacing (S3) the at least one trajectory segment by the at least one predefined camera movement pattern in order to get the target trajectory. The manual acquisition of a first trajectory which is an approximate trajectory of the target trajectory in the real environment allows taking into account obstacles in the real environment without having to describe these obstacles in software to prepare the shoot.

摘要翻译： 为了产生配备有车辆无人驾驶飞机的目标轨迹，无人驾驶飞机上室内或室外环境移动中，该方法包括：获取（S1）通过手动移动环境中的反对和捕获的运动来近似目标轨迹的轨迹 所述对象; 识别（S2），在近似轨迹，至少一个轨迹段大致对应于至少一个预定义相机移动图案; 和更换（S3），以获得目标轨迹的至少一个轨迹节段由所述至少一个预定的相机的运动模式。 第一轨迹的手工采集所有这一切是在接近目标轨迹的轨迹在真实环境允许考虑到在实际环境中帐户的障碍，而无需描述软件论文障碍，准备拍摄。

公开(公告)号：EP2960155A3

公开(公告)日：2016-05-04

申请号：EP15170625.6

申请日：2015-06-04

申请人： Thomson Licensing

发明人： FLEUREAU, Julien ,  TARIOLLE, Francois-Louis ,  KERBIRIOU, Paul ,  LE CLERC, Francois

IPC分类号： B64C27/08 ,  G05D1/00 ,  G05D1/08 ,  G05D1/10

CPC分类号： G05D1/101 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/141 ,  G05D1/0088 ,  G05D1/102

摘要： A method for controlling a path of a rotary-wing drone (1), characterized in that said method comprises:
• Establishing a first-order temporal relation between flight control parameters and flight dynamics for said rotary-wing drone (1) comprising:
∘ An Explicit Discrete Time-Variant State-Space Representation of a translation control of said rotary-wing drone (1);
∘ An Explicit Discrete Time-Variant State-Space Representation of a course control of said rotary-wing drone (1);

• Controlling the path of said rotary-wing drone (1) by:
∘ Estimating a course (17) of said rotary-wing drone (1) on the basis of said Explicit Discrete Time-Variant State-Space Representation of a course control of said rotary-wing drone (1);
∘ Estimating a position (18) of said rotary-wing drone (1) on the basis of said Explicit Discrete Time-Variant State-Space Representation of a translation control of said rotary-wing drone (1);

said steps of estimating (17; 18) being performed independently.

公开(公告)号：EP2960155A2

公开(公告)日：2015-12-30

申请号：EP15170625.6

申请日：2015-06-04

申请人： Thomson Licensing

发明人： FLEUREAU, Julien ,  TARIOLLE, Francois-Louis ,  KERBIRIOU, Paul ,  LE CLERC, Francois

IPC分类号： B64C27/08 ,  G05D1/00 ,  G05D1/08 ,  G05D1/10

CPC分类号： G05D1/101 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/141 ,  G05D1/0088 ,  G05D1/102

摘要： A method for controlling a path of a rotary-wing drone (1), characterized in that said method comprises:
• Establishing a first-order temporal relation between flight control parameters and flight dynamics for said rotary-wing drone (1) comprising:
∘ An Explicit Discrete Time-Variant State-Space Representation of a translation control of said rotary-wing drone (1);
∘ An Explicit Discrete Time-Variant State-Space Representation of a course control of said rotary-wing drone (1);

• Controlling the path of said rotary-wing drone (1) by:
∘ Estimating a course (17) of said rotary-wing drone (1) on the basis of said Explicit Discrete Time-Variant State-Space Representation of a course control of said rotary-wing drone (1);
∘ Estimating a position (18) of said rotary-wing drone (1) on the basis of said Explicit Discrete Time-Variant State-Space Representation of a translation control of said rotary-wing drone (1);

said steps of estimating (17; 18) being performed independently.

摘要翻译： 一种用于控制旋转翼无人驾驶飞机（1），在所述方法的特征的路径的方法包括：€¢建立飞行控制参数和飞行动力学之间用于所述旋转翼无人驾驶飞机（1），包括一阶时间关系： 〜所述旋转翼无人驾驶飞机的翻译控制（1）的显式离散时变状态空间; 〜所述旋转翼无人驾驶飞机（1）的过程控制的明确离散时变状态空间; €¢控制的路径，所述旋转翼无人驾驶飞机（1）：〜估计所述旋转翼无人驾驶飞机的过程（17）（1）所述的基础上，一个疗程的显式离散时变状态空间 旋转翼无人驾驶飞机的所述控制装置（1）; 〜估计的位置（18），所述旋转翼无人驾驶飞机（1）所述旋转翼无人驾驶飞机（1）的翻译控制的说明确离散时变状态空间的基础上; 估计的所述步骤（17; 18）独立地被执行。