Multilayer real-time video image stabilization

In many camera-based robotics applications, stabilizing video images in real-time is often critical for successful performance. In particular vision-based navigation, localization and tracking tasks cannot be performed reliably when landmarks are blurry, poorly focused or disappear from the camera view due to strong vibrations. Thus a reliable video image stabilization system would be invaluable for these applications. This paper presents a real-time video image stabilization system (VISS) primarily developed for aerial robots. Its unique architecture combines four independent stabilization layers. Layer 1 detects vibrations via an inertial measurement unit (IMU) and performs external counter-movements with a motorized gimbal. Layer 2 damps vibrations by using mechanical devices. The internal optical image stabilization of the camera represents Layer 3, while Layer 4 filters remaining vibrations using software. VISS is low-cost and robust. It has been implemented on a "Photoship One" gimbal, using GUMBOT hardware for processing Sparkfun-IMU data (Layer 1). Lord Mount vibration isolators damp vibrations (Layer 2). Video images of Panasonic's Lumix DMC-TZ5 camera are optically stabilized with Panasonic's "Mega O.I.S." technique (Layer 3) and digitally stabilized with "Deshaker" software (Layer 4). VISS significantly improved the stability of shaky video images in a series of experiments.