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

摘要

According to an embodiment of the present invention, a method for controlling an unmanned aerial vehicle comprises the steps of: obtaining video data of a spherical target by using a camera connected to a main body; calculating a radius and a center coordinate on an image plane of the target from the video data; calculating camera coordinate data of the target by using the calculated radius and center coordinate; calculating world coordinate data of the target by using the camera coordinate data of the target and location data of the main body; predicting trajectories of the target by using the world coordinate data of the target; and flying the main body toward one coordinate of the predicted trajectories.