모바일 로봇을 위한 EKF이미지 안정화 시스템 개발

Title
모바일 로봇을 위한 EKF이미지 안정화 시스템 개발
Other Titles
The Development of an Image Stabilization System Using an Extended Kalman Filter used in a Mobile Robot
Author(s)
이석규최윤원[최윤원]딜샛사이토프[딜샛사이토프]강태훈[강태훈]
Keywords
Image stabilization; mobile robot; Inclinometer; Extended Kalman Filter
Issue Date
201012
Publisher
한국로봇학회
Citation
로봇학회 논문지, v.5, no.4, pp.367 - 376
Abstract
This paper proposes a robust image stabilization system for a mobile robot using an Extended Kalman Filter (EKF). Though image information is one of the most efficient data used for robot navigation, it is subjected to noise which is the result of internal vibration as well as external factors such as uneven terrain, stairs, or marshy surfaces. The camera vibration deteriorates the image resolution by destroying the image sharpness, which seriously prevents mobile robots from recognizing their environment for navigation. In this paper, an inclinometer was used to measure the vibration angle of the camera system mounted on the robot to obtain a reliable image by compensating for the angle of the camera vibration. In addition the angle prediction obtained by using the EKF enhances the image response analysis for real time performance. The experimental results show the effectiveness of the proposed system used to compensate for the blurring of the images.
URI
http://hdl.handle.net/YU.REPOSITORY/23199
ISSN
1975-6291
Appears in Collections:
공과대학 > 전기공학과 > Articles
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