Digital image stabilization for humanoid eyes inspired by human VOR system

Authors:
Yeon Geol Ryu;Hyun Chul Roh;Si Jong Kim;Kwang Ho An;Myung Jin Chung
Affiliations:
Division of Electrical Engineering, Advanced Institute of Science and Technology, Daejeon, Korea;Division of Electrical Engineering, Advanced Institute of Science and Technology, Daejeon, Korea;Division of Electrical Engineering, Advanced Institute of Science and Technology, Daejeon, Korea;Division of Electrical Engineering, Advanced Institute of Science and Technology, Daejeon, Korea;Division of Electrical Engineering, Advanced Institute of Science and Technology, Daejeon, Korea
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

In this paper, a new Digital Image Stabilization (DIS) system is for humanoid eyes presented. This DIS system was biologically inspired by the human Vestibulo-Ocular Reflex (VOR) system, and is based on a KLT tracker and an Inertial Measurement Unit (IMU). In order to more accurately estimate the motion between two consecutive image frames, corresponding points that were discovered by KLT tracker and IMU were used. The initial motion that was estimated with the IMU was incorporated into the KLT tracker in order to improve the speed and accuracy of the tracking process. Also, a Kalman filter was applied to remove unwanted camera motion. The experimental results showed that the proposed DIS system has the characteristics of the high speed and accuracy in various conditions.