A real-time scheme of video stabilization for mine tunnel inspectional robot

摘要

The purpose for this research is to develop a realtime video stabilization algorithm for mine tunnel inspectional robot. The inspectional robot moves violently and randomly depending on the tunnel terrain, the video flow captured from the camera bounded on the robot is affected by jitters. These jitters mean there are errors between the captured video flow and the desired video flow. These errors affect the robot operator's visual experience. In this paper, a real-time scheme of video stabilization is proposed to overcome the rotational and translational movement of video flow. In proposed scheme, the LSE analytical solution is adopted to estimate the global motion parameters through local motion vectors, and for the purpose of getting smooth video flow, the weighting least error fitting algorithm is used to smooth the video frames. Finally, the experimental results show the effectiveness of this scheme.