ELECTRONIC DEVICE AND METHOD FOR ESTIMATING A DISPLACEMENT OF A DRONE OBSERVED SCENE, ELECTRONIC APPARATUS FOR CALCULATING A DRONE SOIL SPEED, DRONE AND COMPUTER PROGRAM

摘要

This electronic device (40) for estimating a displacement of a scene (14) observed by an image sensor (12) equipping a drone (10), comprises a first module (42) for acquiring a succession of images of the scene, taken by the image sensor, and an estimation module (44), via an optical flow algorithm applied iteratively at several successive levels, of a displacement of the scene between a previous image and a current image acquired, the image of a level being a subsampled image of the image of the next level, the image of the final level being the acquired image. The estimation module (44) calculates at least one estimate of the displacement of the scene at each level, the previous image being translated from an estimated displacement, when passing from one level to the next. The estimation module (44) is further configured to determine an integral rounding of the estimated displacement, the previous image then being translated from said rounded movement as the respective level moves to the next.