[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 179 At the same time such system is also sufficient for rotating camera line of sight in any direction. In this case the term stabilization covers suppression of low frequencies such as rolling of the platform. Another approach to image stabilization is optical stabilization. It is similar to the mechanical stabilization. However the correction part does not take place in some kind of gimbal where the whole camera is mounted but only within optics of the camera. Changes in lenses orientations creates a phenomenon that the resulting image is perceived as it would be seen without changes in direction. The third and last approach in this juxtaposition is digital image processing leading to image stabilization. It is possible to use date acquired from IMU to adjust the higher frequency movements that are beyond the capabilities of the mechanical stabilization part. Digital stabilization can also be performed on the basis of image processing alone. There is no need for IMU data. However using IMU increases the quality of stabilization [4]. Fig. 1. An example of mechanically stabilized gimbal containing day light camera and thermal imaging camera Stabilization can be used in optoelectronic gimbal (fig. 1) [5] mounted on board of manned objects or unmanned vehicles (UGVs and UAVs). Generally it is desirable to apply stabilization to all cases when deterioration of image quality is perceived due to low and high frequencies. Similar effect can be observed during performing air maneuvering of the camera platform (e.g. UAV). Stabilized optoelectronic gimbals providing a video stream free from the mentioned negative impacts is basis of vision from multispectral cameras (e.g. IR and visible light)[6] based algorithms like: detection and tracking [7], image rectification [8], VSLAM [9] or object recognition [10]. Especially for UAVs vision information is used for planning collision free trajectory in multi-agent environments [11], [12]. Stabilized video sequence could be also treated as a basis for human recognition based on gait data [13-15].
180 D. Bereska et al. 3 Control Algorithms for Mechanical Stabilization In order to measure the quality of the mechanical stabilization, the camera was looking at the black shape on white background, so it was possible to calculate the center of the shape’s mass at each frame. The lesser is the shift, the better is the stabilization. The axes of the whole system have been picked in the following order: Z axis was turned upward (yaw angle of rotation), X axis was turned to the front (roll) and Y axis was turned to the left (pitch). Possible rotations of test bench (distraction) were allowed on axis X and Y (fig. 2). Fig. 2. A photograph of testbed used. Red lines indicates coordinate system axis directions. Servos are the elements which are able to rotate the element positioned on the axis of rotation by an angle which is proportional to the setpoint. The value can be calculated by the control algorithms which utilizes the available sensory information like orientation from IMU) and setpoints. Control algorithm using those values may be capable of bringing the mechanical system to the state when the camera’s line-of-sight is in a given direction. Setpoints for servos may be designate by the control algorithm based on the values selected and sensory information which are not subject of stabilizing. For instance orientation of the testbed which is beyond our manipulation control. Such control system is a control system called open-loop control (fig. 3).
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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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4 A. Babiarz et al. 1 Introduction
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Recognition and Location of Objects
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Omnidirectional Video Acquisition D
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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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