Development of Image Stabilization System Using Extended Kalman Filter for a Mobile Robot

Choi, Yun Won; Kang, Tae Hun; Lee, Suk Gyu

doi:10.1007/978-3-642-13495-1_83

Cited by 4 publications

(6 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…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: 66%

See 1 more Smart Citation

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

Chereau

Breckon

2013

SPIE Proceedings

View full text Add to dashboard Cite

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).

show abstract

Section: Characterization Of Video Image Vibrationmentioning

confidence: 66%

“…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%

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

Chereau

Breckon

2013

SPIE Proceedings

View full text Add to dashboard Cite

show abstract

“…Park [16] proposes a new image stabilization method based on finite impulse response filter, which is more robust against mistuning on the model parameters than the KF. Choi [17] used Extend Kalman Filter in aerial airborne imaging to remove the jitter of the camera and retain scanning motion. Yang [18] proposed a novel stabilization algorithm based on particle filter in EIS, Zhu [19] made further improvements based on his research.…”

Section: Introductionmentioning

confidence: 99%

A Vehicular Electronic Image Stabilization System Based on A Gasoline Model Car Platform

Zhang¹,

Yang²,

Wu³

et al. 2020

Preprint

View full text Add to dashboard Cite

The image sequence captured by the vehicular camera vibrates due to the vehicle vibration or harsh road conditions. It greatly affects the subsequent image processing. As a video processing technology, electronic image stabilization (EIS) can solve this problem effectively. In this paper, a gasoline model car platform is established, which has rich vibration characteristics. Besides, high unevenness roads are selected to make the vibration problem more prominent. Considering vehicle demand, feature point detection and matching algorithm is applied to match images in the process of establishing EIS. In addition, the algorithm of eliminating mismatched feature points and the adaptive Kalman filter (AKF) is improved to make them more suitable for vehicle application. The experimental results show that the EIS developed in this paper meets the real-time requirements and can work normally in harsh road conditions. Since the platform and working scenarios are more extreme than the normal conditions, the EIS developed in this paper has high portability in the environment perception system of smart car.

show abstract

“…The key feature of such robots are vision systems which enable inspection of unknown environments [5,[7][8][9][10][11][12][13]. Vibration reduction and robot's video cameras with image stabilization feature are crucial to provide the operator with high quality vision.…”

Section: Introductionmentioning

confidence: 99%

“…The authors carried out experiments to test the video camera system and the results confirmed its efficacy. In the article [7] the authors present an advanced mobile robot image stabilization system which uses an extended Kalman filter. Camera vibrations caused by uneven surfaces, stairs or muddy terrain lower the quality of vision.…”

Section: Introductionmentioning

confidence: 99%

Mobile crawler robot vibration analysis in the contexts of motion speed selection

Gierlak¹,

Kurc²,

Szybicki³

2017

J. vibroeng.

View full text Add to dashboard Cite

The article presents the methodology of body vibration analysis of an inspection robot with the use of flexible connection between the body and the track propulsion modules. The article presents the methodology of selection of motion parameters of an inspection robot, taking into account the vibration of the robot body. The speed of movement of the robot affects the frequency of contact track claws with the ground, which is related to the frequency of vibration excitation. Robot motion parameters are chosen in such a way so as not to over-stimulate the natural frequency of the system. Due to the vibration reduction, it was possible to install a visual system based on an Ethernet video camera without a stabilizer in the body of the robot. Such an approach enables mass production of robots without active suppression systems and video stabilizers which generate high production costs, increase weight of robots and energy consumption.

show abstract

Development of Image Stabilization System Using Extended Kalman Filter for a Mobile Robot

Cited by 4 publications

References 7 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

A Vehicular Electronic Image Stabilization System Based on A Gasoline Model Car Platform

Mobile crawler robot vibration analysis in the contexts of motion speed selection

Contact Info

Product

Resources

About