The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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The Development Of An Image Stabilization System Using An Extended Kalman Filter Used In A Mobile Robot

모바일 로봇을 위한 Ekf이미지 안정화 시스템 개발

  • Received : 2010.08.11
  • Accepted : 2010.08.19
  • Published : 2010.11.30
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Abstract

This Paper Proposes A Robust Image Stabilization System For A Mobile Robot Using An Extended Kalman Filter (Ekf). Though Image Information Is One Of The Most Efficient Data Used For Robot Navigation, It Is Subjected To Noise Which Is The Result Of Internal Vibration As Well As External Factors Such As Uneven Terrain, Stairs, Or Marshy Surfaces. The Camera Vibration Deteriorates The Image Resolution By Destroying The Image Sharpness, Which Seriously Prevents Mobile Robots From Recognizing Their Environment For Navigation. In This Paper, An Inclinometer Was Used To Measure The Vibration Angle Of The Camera System Mounted On The Robot To Obtain A Reliable Image By Compensating For The Angle Of The Camera Vibration. In Addition The Angle Prediction Obtained By Using The Ekf Enhances The Image Response Analysis For Real Time Performance. The Experimental Results Show The Effectiveness Of The Proposed System Used To Compensate For The Blurring Of The Images.

Keywords

References

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