Electronic device and method for estimating a displacement of a scene observed by a drone, electronic apparatus for calculating a ground speed of the drone, related drone and computer program

摘要

A electronic device for estimating a displacement of a scene observed by an image sensor equipping a drone comprises a first module for acquiring a series of images of the scene, taken by the image sensor, and a module for estimating, via an optical flow algorithm applied iteratively at several successive levels, a displacement of the scene between an acquired prior image and current image, the level of the image being a sub-sampled image of the image of the following level, the final level being the acquired image. The estimating module calculates at least one estimate of the displacement of the scene at each level, the prior image being translated by an estimated displacement, during the passage from one level to the next. The estimating module is further configured to determine integer rounding of the estimated displacement, the prior image then being translated by the rounded displacement, during the passage from one respective level to the next.