Fast digital image stabilization method applicable to space robot visual system

Abstract

The invention discloses a fast digital image stabilization method applicable to a space robot visual system, and relates to fast digital image stabilization technologies. The fast digital image stabilization method includes the five steps of image preprocessing, local motion estimation, global motion estimation, motion filtering and motion compensation. The feature point extraction and matching can be carried out on a front frame of image and a back frame of image rapidly and accurately through an ORB feature point extraction algorithm on the basis of image preprocessing, and the advantages in time and accuracy are achieved; global motion vectors can be solved accurately according to a Hauss Herder transformation method and an extended matrix method after a matching point pair is obtained, and a foundation is laid for later motion filtering and motion compensation; random jitter motion components can be kept according to a damping coefficient method, and normal scanning components are eliminated; positions of pixel points of a single frame of image are adjusted by the utilization of linear combination of the inter-frame global motion vectors so as to obtain a stable video image sequence. The fast digital image stabilization method is low in time complexity and high in prediction accuracy and compensation accuracy.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, and in particular relates to a fast digital image stabilization method suitable for a space robot vision system. Background technique [0002] Digital stabilization is a technique for correcting non-stationary video image sequences acquired by a camera system moving randomly. Its purpose is to eliminate the displacement of the same object on different frame image coordinates in the image sequence caused by redundant motion of the carrier, and then eliminate the blurring and jitter of the image sequence observed due to visual persistence. Compared with mechanical image stabilization and optical image stabilization, digital image stabilization has the characteristics of high precision, easy operation, strong flexibility, less hardware, and small size. In foreign countries, it has been widely used in various tasks such as photography, aerial reconnaissance, weapon system observat...

AI Technical Summary

Problems solved by technology

Among them, the gray-scale projection method has the characteristics of small amount of calculation and high precision, but it is not effective for image stabilization such as rotation, scaling, and large translational movements; the block matching method has high precision, but is affected by the search strategy and matching criteria. The image stabilization effect is uneven; the optical flow field method has aperture problems and occlusion problems, and its optical flow constraint equation is not strictly established, which requires a large amount of calculation and has large errors; the phase method has a large amount of calculation and is difficult to guarantee real-time performance; the feature matching method Being able to quickly and effectively stabilize image sequences that shake in any form is the main direction for the development of digital image stabilization in the future

However, it has two problems: one is how to extract image features stably, accurately and quickly; the other is how to quickly and accurately match image features

The disadvantages of this scheme are that the processing process is cumbersome, the amount of calculation is large, the range of jitter that can be processed is small, and the image quality is affected during the image conversion process.

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