Development of Image Stabilization System Using Extended Kalman Filter for a Mobile Robot

摘要

This paper proposes a robust image stabilization system for a mobile robot using Extended Kalman Filter (EKF). Though image information is one of the most efficient data for robot navigation, it is subject to noise which results from internal vibration as well as external factors such as uneven terrain, stairs, or marshy surface. The vibration of camera deteriorates the definition of image by destroying image sharpness, which seriously prevents mobile robots from recognizing their environment for navigation. In this paper, 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 shake caused by vibration. In addition angle prediction by using the EKF enhances responsibility of image analysis for real time performance. The Experimental results show effectiveness of the proposed system to compensate for the blurring of the images.