Patent attributes
A flight device includes a processor and a memory storing instructions which are executed by the processor causes the processor to: acquire an image; determine a scene; determine a height of the flight device; calculate an image first and second direction offsets of a second image frame relative to a first image frame of two adjacent image frames; acquire an acceleration and an angular velocity of the flight device in three dimensions; compensate for the image first and second direction offsets, according to the acceleration and the angular velocity, to obtain image correction offsets; calculate an first and second direction offsets in world coordinates corresponding to the image correction offsets; and derive a velocity of the flight device according to a time interval between time points at which the two adjacent image frames are captured and according to the first direction offset and the second direction offset.
