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Full-Text Articles in Robotics
Electronic Image Stabilization For Mobile Robotic Vision Systems, Michael John Smith
Electronic Image Stabilization For Mobile Robotic Vision Systems, Michael John Smith
Theses and Dissertations
When a camera is affixed on a dynamic mobile robot, image stabilization is the first step towards more complex analysis on the video feed. This thesis presents a novel electronic image stabilization (EIS) algorithm for small inexpensive highly dynamic mobile robotic platforms with onboard camera systems. The algorithm combines optical flow motion parameter estimation with angular rate data provided by a strapdown inertial measurement unit (IMU). A discrete Kalman filter in feedforward configuration is used for optimal fusion of the two data sources. Performance evaluations are conducted by a simulated video truth model (capturing the effects of image translation, rotation, …
Locating And Tracking Objects By Efficient Comparison Of Real And Predicted Synthetic Video Imagery, Damian M. Lyons, D. Paul Benjamin
Locating And Tracking Objects By Efficient Comparison Of Real And Predicted Synthetic Video Imagery, Damian M. Lyons, D. Paul Benjamin
Faculty Publications
A mobile robot moving in an environment in which there are other moving objects and active agents, some of which may represent threats and some of which may represent collaborators, needs to be able to reason about the potential future behaviors of those objects and agents. In this paper we present an approach to tracking targets with complex behavior, leveraging a 3D simulation engine to generate predicted imagery and comparing that against real imagery. We introduce an approach to compare real and simulated imagery and present results using this approach to locate and track objects with complex behaviors. In this …