Patent Document ID: 20150298822
Application ID: 14680833
Patent Status: 0

Claim One:
1. A rotary-wing drone ( 10 ), comprising: a camera ( 14 ), including a hemispherical-field lens of the fisheye type pointing to a fixed direction (Δ) with respect to the drone body, as well as a digital sensor acquiring the image (I) formed by the lens and delivering raw pixel data; image processing means ( 156 ), receiving as an input the raw pixel data and delivering as an output rectified pixel data, compensated for the geometric distortions introduced by the fisheye lens; means ( 158 ) for delivering as an output rectified pixel data, for transmission to a display or video-recording device; an inertial unit ( 154 ), adapted to measure the Euler angles (φ, θ, ψ) characterizing the attitude of the drone with respect to an absolute terrestrial reference system; and control means ( 152 ), receiving as an input at least one Euler angle delivered by the inertial unit ( 154 ), and adapted to window the pixel data delivered as an output by the delivery means as a function of changes of attitude of the drone detected by the inertial unit, characterized in that: the digital sensor is a scanning sensor delivering line by line said raw pixel data; the drone further includes extraction means ( 152 ), receiving as an input a selection signal defining over the sensor extent the position of a capturing area (ZC) of reduced size, and delivering as an output said raw pixel data, which correspond to the capture area of reduced size; the servo-control means ( 152 ) are means adapted to dynamically modify said selection signal in a direction opposite to that of a change of attitude of the drone detected by the inertial unit and characterized by a corresponding variation of said at least one Euler angle; and said image processing means ( 156 ) receive as an input the raw pixel data delivered by the extraction means.