DRONE WITH FORWARD-LOOKING CAMERA WITH SEGMENTATION OF THE IMAGE OF THE SKY IN ORDER TO CONTROL THE AUTOEXPOSURE

摘要

The drone includes a camera (14), an inertial unit (46) measuring the angles of the drone, and an extractor module (52) delivering image data of a movable capture area of reduced size moved dynamically in a contrary direction of the angle variations measured by the inertial unit. The module analyzes the image data of the useful area to assign to each a weighting coefficient representative of a probability of belonging to the sky, and dynamically defines a segmentation boundary (F) of the useful area between sky and ground based on of these weighting coefficients. Two distinct groups of regions of interest ROI are defined, respectively for the sky zone and for the ground zone, and the dynamic exposure control means are controlled according to the image data of the ROIs of one of these groups, including excluding the ROIs from the sky zone.