[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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System for Multi-axial Mechanical Stabilization of Digital Camera Damian Bereska, Krzysztof Daniec, Sławomir Fraś, Karol Jędrasiak, Mateusz Malinowski, and Aleksander Nawrat Abstract. The article presents designed and implemented system for multi-axial mechanical stabilization. The quality of stabilization using closed-loop control, open-loop control and open-loop control with prediction was experimentally measured. Acquired results are presented and discussed. 1 Introduction The idea of stabilization of digital camera is to be able to acquire a stable image from camera mounted on any moving platform (e.g. vehicle). The whole stabilization process can be divided into 3 different levels: 1) Mechanical stabilization – adding special servomechanisms or springs to reduce the disturbance and allow camera to independently track objects (mechanics); 2) Optical stabilization – stabilization of system projecting the image on CCD or different converter (micromechanics); 3) Digital stabilization – moving and rotating of the image to compensate the oscillations on pixel level (computing). Damian Bereska ⋅ Krzysztof Daniec ⋅ Sławomir Fraś ⋅ Karol Jędrasiak ⋅ Mateusz Malinowski ⋅ Aleksander Nawrat Silesian University of Technology, Institute of Automatic Control, Akademicka 16, 44-101 Gliwice, Poland e-mail: {slawomir.fras,damian.bereska,krzysztof.daniec, karol.jedrasiak,aleksander.nawrat}@polsl.pl Aleksander Nawrat Ośrodek Badawczo-Rozwojowy Urządzeń Mechanicznych “OBRUM” sp. z o.o., ul. Toszecka 102, 44-117 Gliwice, Poland e-mail: anawrat@obrum.gliwice.pl A. Nawrat and Z. Kuś (Eds.): Vision Based Systems for UAV Applications, SCI 481, pp. 177–189. DOI: 10.1007/978-3-319-00369-6_11 © Springer International Publishing Switzerland 2013
178 D. Bereska et al. The aim of this article is to experimentally test and compare a few different control approaches for mechanical stabilization. To achieve this goal we prepared a special test bench, the pendulum, on which camera can rotate around 2 axes. In order to do the mechanical stabilization, we installed 3 servomechanisms to compensate the rotation (although the pendulum has only 2 freedom degrees, the third rotation can occur as composition of two other). Additionally, to make the necessary measurements we installed two Inertial Measurement Units (IMU). One was placed on the pendulum itself, while the second was placed on the camera. Finally, the proper algorithm controls the mechanical stabilization. The optical stabilization part is skipped in this article, as most of the modern cameras have it already implemented inside them. 2 Literature Review Image stabilization is basically divided into three approaches: mechanical, optical and digital stabilization. Mechanical stabilization is performed by mechanically changing the orientation of the image acquisition device. The stabilization in the case of ground-based application can rely on a rigid camera attached, such as using e.g. a tripod, so that the device is constantly looking in one direction. Therefore the device do not carry the vibrations resulting from holding the camera in the hands of the operator. In the case where there is no available substrate property, use free camera mount which does not carry the rotating platform on which it is place, while maintaining the orientation relation to something else – for instance, to the Earth. This problem can be solved in a purely mechanical way using gyroscopes or by using mechanical actuators and inertial measurement sensor [1]. Application of mechanical gyroscopes can get good quality of stabilization however such system is burdened with various constraints such as long boot time caused by the requirement of desired gyro spin speed or long time to set the orientation setting. Second approach involves use of elements capable of inflicting any angle by electronic means. Setting angles of various degrees of freedom can be achieved by using servos, which consists of a power unit, the transmission system, the angle measurement unit and steering motor controller in a way that the predetermined angle is achieved at the output of the servomechanism [2]. This approach is however subject to a rate control problem due to internal closed loop control. The second approach of angle setting is based on stepper motors that can operate in an open loop. Therefore there is no accumulation of errors in time. Stepper motors allow faster camera orientation which is used for maintaining the direction of viewing of the camera regardless to the rotation of the platform that the camera is mounted. However when the mounting platform is rotating it is required to have the information about the orientation of the platform. It is natural to use acquire such information using inertial measurement unit (IMU). The combination of inertial sensor and a manipulator with three degrees of freedom is therefore sufficient to achieve stabilization of the orientation of the camera in a mobile platform.
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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Omnidirectional Video Acquisition D
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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