基于IMU-Camera标定的鲁棒电子稳像方法

Robust Electronic Image Stabilization Method Based on IMU-Camera Calibration

  • 摘要: 提出了一种在相机上搭载惯性测量单元(IMU,inertial measurement unit),通过IMU实时、间接地估计相机姿态变化并采用对实时图像进行反馈变换的方式来实现电子稳像的方法.首先,通过四元数法将IMU与相机坐标系进行标定,使IMU与相机坐标系重合.然后,利用最小二乘法对标定好的IMU和相机完成最小误差匹配,达到触发时间同步的效果.最后,利用IMU的姿态信息实时对相机的抖动进行反馈,实现视频稳像.实验结果表明,在普通场景下,该方法能够获得几乎和基于SIFT(scale-invariant feature transform)、灰度投影法等近似的稳像精度.相对于较好稳像能力的SIFT方法,其稳像效果相似;在纹理不足的场景下,该方法比SIFT及灰度投影法稳像精度分别提高了近20%和40%.该方法能够有效突破应用场景的限制,具有高的鲁棒性和应用价值.

     

    Abstract: We propose an electronic image stabilization method to attach an inertial measurement unit (IMU) to a camera. Then, we apply the IMU data to estimate the attitude changes of the camera indirectly and in real time to implement feedback transformation on real-time images. First, we calibrate the IMU and the camera coordinate system by using the quaternion method to conjoin the two coordinate systems. Then, we adopt the least square method to complete the minimum error match of the calibrated IMU and the camera to achieve trigger time synchronization. Finally, we use the IMU's attitude information to feedback the camera's jitter in real time to realize video stabilization. Experimental results show that the effects of IMU stabilization and scale-invariant feature transform (SIFT) are almost the same in a normal scene. In addition, in a scarce texture information scene, the stabilization correlation of the IMU increases by approximately 20% in comparison with the SIFT method and by 40% in comparison with the gray projection method. This method breaks through the limitations of application scenarios, and has high robustness and application value.

     

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