이동 로봇을 위한 하이브리드 이미지 안정화 시스템의 개발

Title
이동 로봇을 위한 하이브리드 이미지 안정화 시스템의 개발
Other Titles
Development of Hybrid Image Stabilization System for a Mobile Robot
Author(s)
이석규최윤원[최윤원]강태훈이동춘딜샛사이토프에스
Keywords
optical image stabilization; digital image stabilization; hybrid image stabilization; inclinometer; extended Kalman filter
Issue Date
201102
Publisher
제어·로봇·시스템학회
Citation
제어.로봇.시스템학회 논문지, v.17, no.2, pp.157 - 163
Abstract
This paper proposes a hybrid image stabilizing system which uses both optical image stabilizing system based on EKF (Extended Kalman Filter) and digital image stabilization based on SURF (Speeded Up Robust Feature). Though image information is one of the most efficient data for object recognition, it is susceptible to noise which results from internal vibration as well as external factors. The blurred image obtained by the camera mounted on a robot makes it difficult for the robot to recognize its environment. The proposed system estimates shaking angle through EKF based on the information from inclinometer and gyro sensor to stabilize the image. In addition, extracting the feature points around rotation axis using SURF which is robust to change in scale or rotation enhances processing speed by removing unnecessary operations using Hessian matrix. The experimental results using the proposed hybrid system shows its effectiveness in extended frequency range.
URI
http://hdl.handle.net/YU.REPOSITORY/25594
ISSN
1976-5622
Appears in Collections:
공과대학 > 전기공학과 > Articles
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