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Compact image stabilization system using camera posture information
Author(s) -
Miyauchi Ryo,
Shiroma Naoji,
Matsuno Fumitoshi
Publication year - 2008
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20237
Subject(s) - computer vision , artificial intelligence , computer science , teleoperation , robot , mobile robot , terrain , stereo camera , image stabilization , image sensor , video camera , computer graphics (images) , image (mathematics) , geography , cartography
A teleoperated robot that works in unstructured environments such as disaster sites is mainly controlled based on images obtained from cameras mounted on the robot. Because the robot runs on rough terrains, the images from the mounted camera are nonsteady ones. These nonsteady images will make it difficult for the operator to understand the surrounding information and will cause the camera motion sickness. We have developed an image stabilization system using camera posture information for a mobile robot that moves on uneven terrains. Because the camera posture information is detected by a three‐dimensional‐motion sensor separately from the camera image, this system works even in bad light condition environments and is robust for light condition changes. The wide‐field‐of‐view images obtained by the fish‐eye‐lens camera are used to handle a large‐amplitude disturbance. The sphere mapping and the image shifting of a region of © 2008 Wiley Periodicals, Inc.