Method and system for controlling movement of a UAV by predicting the trajectory of a spherical target through a camera

摘要

According to another aspect of the present invention, there is provided a method of controlling an unmanned airplane, the method comprising: acquiring image data of a spherical target using a camera connected to the main body; Calculating a radius and a center coordinate on the image plane of the target from the image data; Calculating camera coordinate data of the target using the calculated radius and center coordinates; Calculating world coordinate data of the target using camera coordinate data of the target and position data of the main body; Estimating a trajectory of the target using world coordinate data of the target; And flying the body toward one of the predicted trajectories.