Compact image stabilization system for small-sized humanoid

Shiroma, Naoji; Kobayashi, Jun’ichi; Oyama, Eimei

doi:10.1109/robio.2009.4912995

Cited by 8 publications

(5 citation statements)

References 18 publications

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“…Displacement in x was observed to be lesser, as is to be generally expected in vehicular vibration characteristics [21]. Notably the magnitude and frequency characteristics of this platform, typical of tele-operation in hazardous environments [25,28], differs significantly from prior work on this topic [1,[22][23][24]28]. …”

Section: Characterization Of Video Image Vibrationmentioning

confidence: 65%

“…In recent years, several video stabilization approaches have been proposed for hand-held cameras [18][19][20] and more specifically for intelligent transport and autonomous systems [1,[21][22][23][24]. In general two different methodologies have been explored: (mechanical) hardware and software based approaches.…”

Section: Prior Workmentioning

confidence: 99%

“…By contrast, purely software approaches, or Digital Image Stabilization (DIS) systems, can be dynamically adjusted to detected vibration characteristics within minimal size/weight constraints [21,27]. For example in [28] the authors combine both technologies obtaining an effective solution whilst in recent mobile robot work specific [1,22,24] an external motion sensor provides an input to the DIS.…”

Section: Prior Workmentioning

confidence: 99%

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Robust motion filtering as an enabler to video stabilization for a tele-operated mobile robot

Chereau

Breckon

2013

SPIE Proceedings

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An increasing number of inspection and hazardous environment tasks use mobile robotic vehicles manually tele-operated via a live video feed from an on-board camera. The resulting video imagery frequently suffers from vibration artefacts compromising the accuracy and security of operation in addition to the viable duration for human tele-operation. Here we aim to automatically remove these unwanted visual effects using a novel real-time video stabilization approach. Prior work for hand-held and vehicle mounted cameras is ill-suited to the high-frequency, large magnitude (10-15% of image size) vibration encountered on the short wheelbase, non-suspended robotic platforms typically deployed for such tasks.Without prior knowledge of the robot ego-motion (or vibration characteristics) we develop a novel four stage filtering approach to identify robust Local Motion Vectors (LMV) for Global Motion Vector (GMV) estimation in successive video frames whilst preserving the required real-time responsiveness for tele-operation. Experimental results over a range of tele-operation scenarios show that the method provides both significant qualitative visual improvement and a quantitative reduction in measurable video image displacement (caused by vibration).

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Section: Characterization Of Video Image Vibrationmentioning

confidence: 65%

Section: Prior Workmentioning

confidence: 99%

Section: Prior Workmentioning

confidence: 99%

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Robust motion filtering as an enabler to video stabilization for a tele-operated mobile robot

Chereau

Breckon

2013

SPIE Proceedings

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“…In this section, the method for eliminate and stabilize the background will be introduced. The stabilization technique is sometimes used in the field of tele-robotics [18] where the camera image attached on the mobile robot is needed to be stabilized. We also used a stabilization technique in our system.…”

Section: Sensory-motor Collaboration By View Sharing Systemmentioning

confidence: 99%

Parasitic Humanoid

Maeda

Ando

Iizuka

et al. 2011

Proceedings of the 2nd Augmented Human International Conference

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The Parasitic Humanoid (PH) is a wearable robotic human interface for sampling, modeling, and assisting nonverbal human behavior. This anthropomorphic robot senses the behavior of the wearer and has the internal models to learn the process of human sensory motor integration, thereafter it begins to predict the next behavior of the wearer using the learned models. When the reliability of the prediction is sufficient, the PH outputs the difference from the actual behavior as a request for motion to the wearer by motion induction using sensory illusion. Through the symbiotic interaction, the internal model and the process of human sensory motor integration approximate each other asymptotically. This process is available to transmit modalities such as senses of sight, hearing, touch, force and balance with human embodiment. This synergistic multimodal communication between distant people wearing PH can realize experience-sharing, skill transmission, and human behavior supports.

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“…Camera stabilization during gait is a well known issue in humanoid robotics [1][2][3]. Many artificial vision tasks, as mapping or recognition, depend on image quality aspects like illumination, focus, or image position and rotation.…”

Section: Introductionmentioning

confidence: 99%

Humanoid Head Camera Stabilization Using a Soft Robotic Neck and a Robust Fractional Order Controller

Muñoz,

de Santos-Rico,

Mena

et al. 2024

Biomimetics

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In this paper, a new approach for head camera stabilization of a humanoid robot head is proposed, based on a bio-inspired soft neck. During walking, the sensors located on the humanoid’s head (cameras or inertial measurement units) show disturbances caused by the torso inclination changes inherent to this process. This is currently solved by a software correction of the measurement, or by a mechanical correction by motion cancellation. Instead, we propose a novel mechanical correction, based on strategies observed in different animals, by means of a soft neck, which is used to provide more natural and compliant head movements. Since the neck presents a complex kinematic model and nonlinear behavior due to its soft nature, the approach requires a robust control solution. Two different control approaches are addressed: a classical PID controller and a fractional order controller. For the validation of the control approaches, an extensive set of experiments is performed, including real movements of the humanoid, different head loading conditions or transient disturbances. The results show the superiority of the fractional order control approach, which provides higher robustness and performance.

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Compact image stabilization system for small-sized humanoid

Cited by 8 publications

References 18 publications

Robust motion filtering as an enabler to video stabilization for a tele-operated mobile robot

Robust motion filtering as an enabler to video stabilization for a tele-operated mobile robot

Parasitic Humanoid

Humanoid Head Camera Stabilization Using a Soft Robotic Neck and a Robust Fractional Order Controller

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