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The Real-time Video Stabilization for the Rescue Robot
Jen-Pin Hsiao,Cheng-Chung Hsu,Tzu-Chiang Shih,Pau-Lo Hsu,Syh-Shiuh Yeh,Bor-Chyun Wang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
When rescue robots navigate in a rough terrain, significant vibration of the video occurs unavoidably and a video stabilization system is proposed in this paper to reduce the disturbance on the visual system of the present rescue robots. The Kalman filter is applied to estimate the motion vector of the robot and the false estimation occurrence can be thus greatly reduced by applying analysis of correlation and variance of the motion vector estimation. With a hierarchical searching algorithm implemented on the TI DSP 6437, the frame rate can be improved from 10 fps to 28 fps to realize the real-time video stabilization and furthermore, the cooperative mission of multiple rescue robots has been achieved by applying the developed visual servo technique. The proposed virtual bounded motion control algorithm further leads the robots approaching the target precisely with cooperation of multiple rescue robots. The demo video is available at: http://lab816.cn.nctu.edu.tw/DemoVideo/.