UAV(Unmanned Aerial Vehicle) image stabilization algorithm based on estimating averaged vehicle motion

기체의 평균 움직임 추정에 기반한 무인항공기 영상 안정화 알고리즘

  • 이홍석 (충남대학 메카트로닉스공학과) ;
  • 고윤호 (충남대학 메카트로닉스공학과) ;
  • 김병수 (충남대학 항공우주공학과)
  • Published : 2009.05.07

Abstract

This paper proposes an image processing algorithm to stabilize shaken scenes of UAV(Unmanned Aerial Vehicle) caused by vehicle self-vibration and aerodynamic disturbance. The proposed method stabilizes images by compensating estimated shake motion which is evaluated from global motion. The global motion between two continuous images modeled by 6 parameter warping model is estimated by non-linear square method based on Gauss-Newton algorithm with excluding outlier region. The shake motion is evaluated by subtracting the global motion from aerial vehicle motion obtained by averaging global motion. Experimental results show that the proposed method stabilize shaken scenes effectively.

Keywords