Mobile appratus, in particular a rotary-wing drone, provided with a video camera delivering sequences of images dynamically corrected for the wobble effect

摘要

The apparatus comprises a camera (10) with a digital sensor read by a mechanism of the rolling shutter type delivering video data (S_cam) line by line. An exposure control circuit (22) adjusts dynamically the exposure time (t_exp) as a function of the level of illumination of the scene that is captured. A gyrometer unit (12) delivers a gyrometer signal (S_gyro) representative of the instantaneous variations of attitude (φ, θ, ψ) of the camera, and a processing circuit (18) that receives the video data (S_cam) and the gyrometer signal (S_gyro) delivers as an output video data processed and corrected for artefacts introduced by vibrations specific to the apparatus. An anti-wobble filter (24) dynamically modifies the gain of the gyrometer signal as a function of the exposure time (t_exp), so as to reduce the gain of the filter when the exposure time increases, and vice versa.