The Research Of Electronic Image Stabilization Key Technology Based On Mobile Robot Vision System

Electronic image stabilization algorithm is a new method of image stabilization by usingcomputer software programming. Because the technology has more advantages in terms ofvolume, accuracy, price relative than the previous technologies, and then have a very widerange of applications, including military and civilian fields. The electronic image stabilizationalgorithm contains two parts: the motion estimation and motion compensation. Motionestimation refers to the process of obtaining an image of the relative movement parameters;motion compensation refers to the process of making corresponding processing according tothe result which is got by Motion estimation. Therefore, according to the actual situation, howto select the appropriate of motion estimation and compensation methods becomes the focusof this article. This paper makes the fast-moving robot as the research object and study thetechnology of electronic image stabilization under the complex jitter. Paper consists of fourparts:Chapter1introduction: The first introduces the background, purpose and meaning of thesubject, and then gives the electronic image stabilization algorithm research status. Finally,the subject content and structural arrangements are given.Chapter2the design of vision system based on ground fast-moving mobile robot: Firstly,the design about hardware system of the ground quickly mobile robot is given,including theoverall composition, image acquisition and processing system, and the design of controlsystem. Secondly, the design of software system is given, including the theory of theelectronic image stabilization algorithm and the characteristics of the image sequence in threedifferent scenes of small translation, large translation and complex jitter and thecorresponding electronic image stabilization algorithm.Chapter3the research of the methods of image preprocessing based on visual system:which mainly include gray-scale processing, image histogram equalization processing andimage denoising processing. And then the algorithm is tested on mobile robot, finally, theanalysis of experimental results is given.Chapter4The research of motion estimation based on moving robot vision system: thesystem based on ground fast-moving robot belongs to an electronic image stabilization ofcomplex jitter case. So, the motion estimation method based on SIFT corner extraction andaffine model is put forward, and then the algorithm is tested on mobile robot, finally, theanalysis of experimental results is given. Chapter5the research of motion compensation based on moving robot vision system:The Kalman filter is put forward and tested on the ground fast mobile robot, finally, theanalysis of experimental results is given.Research project have completed the research of electronic image stabilization algorithmbased on the ground fast-moving robot under the environment of laboratory, which provegreat preference value and explore significance for making the electronic image stabilizationalgorithm use for the high-speed unmanned surface vehicle in the future.