Intensity-difference based 3D video stabilization for planetary robots

G. Martinez
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Abstract

In this paper, an algorithm to remove the camera jitter from image sequences captured by planetary robots is investigated. First, the frame to frame surface 3D motion with respect to the camera coordinate system is estimated and integrated over time. The estimation is performed by maximizing a likelihood function of the frame to frame intensity differences measured at key observation points. Then, the jitter is determined as the perspective projection of the difference between the integrated surface 3D translation and a smoothed version of it. Finally, the stabilized video is synthesized by moving the entire content of each image with a displacement vector having the same magnitude but opposite direction to the estimated jitter for that image. The experimental results with synthetic data revealed real time operation with low latency and a reduction of the jitter in a factor of 20. Experimental results with real image sequences captured by a rover platform in indoor and outdoor conditions show very reliable and encouraging stabilization results.
基于强度差的行星机器人三维视频稳定
本文研究了一种消除行星机器人捕获的图像序列中相机抖动的算法。首先,相对于相机坐标系的帧到帧表面三维运动随时间估计和集成。估计是通过最大化在关键观测点测量的帧间强度差的似然函数来完成的。然后,将抖动确定为集成曲面3D平移与平滑版本之间差异的透视投影。最后,通过移动每个图像的整个内容来合成稳定的视频,其位移矢量与该图像的估计抖动具有相同的幅度,但方向相反。合成数据的实验结果显示了低延迟的实时操作,并将抖动减少了20倍。在室内和室外条件下,由漫游车平台捕获的真实图像序列的实验结果显示出非常可靠和令人鼓舞的稳定结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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