Video Stabilization for Robot Eye Using IMU-Aided Feature Tracker

被引：0

作者：

Ryu, Yeon Geol ^{[1
]}

Roh, Hyun Chul ^{[1
]}

Chung, Myung Jin ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Elect Engn, Taejon 305701, South Korea

来源：

INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年

关键词：

Video stabilization; Vestibulo-ocular reflex (VOR); KLT tracker; Inertial measurement unit (IMU); Kalman filter;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, new video stabilization system is presented for robot eye. This system is biologically inspired by the human vestibulo-ocular reflex. Feature tracker with inertial sensor is proposed to estimate the motion more accurately and fast. The rotational motion measured by the inertial sensor is incorporated into the KLT tracker in order to predict a position of feature in current frame. This IMU-aided tracker improves a success rate and reduces an iteration number in tracking feature. Also, a Kalman filter is applied to remove unwanted camera motion. The experimental results show that the proposed video stabilization system has the characteristics of the high speed and accuracy in various conditions.

引用

页码：1875 / 1878

页数：4

共 33 条

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