IMU (Inertia Measurement Unit) based real-time electronic image stabilizing method

Abstract

The invention relates to an IMU based real-time electronic image stabilizing method. The method is characterized in that an IMU and a camera trigger a time synchronization model, the IMU and the camera calibrated in the same coordinate system move simultaneously, and time registration is carried out via inflection point information generated by two coordinate systems in the movement process; and concretely, the relative attitude between the IMU coordinate system and the camera coordinate system is calibrated, self attitude change data sensed by the IMU serves as basis of compensation for front and back frame movement, and further an electronic image stabilizing process is completed. The electronic image stabilizing method does not rely on scene image features, and can be used to handle with the problem that characteristic information is inaccurate or missing in matching due to the fact that the scene is complex or single. Relative pose calibration of the IMU and camera is provided, and transition between the IMU coordinate system and the camera coordinate system is realized.

Description

technical field [0001] The present invention relates to a method of measuring camera shake, estimating the camera shake model, and realizing real-time suppression of shaking video by mounting an inertial measurement unit (IMU) on the camera, in particular to a method based on an inertial measurement unit (IMU). A real-time electronic image stabilization method belongs to the technical field of image processing. Background technique [0002] When the camera is shooting video images, it is often affected by the camera carrier, which causes frame-to-frame jitter in the captured video. The purpose of electronic image stabilization is to calculate these jitters and suppress them to achieve the purpose of video stabilization, usually by means of image sensors. This technology is also widely used in many fields such as machine vision, image processing, and pattern recognition. Its main principle is to preprocess the original video sequence collected by the camera, use the feature...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a real-time electronic image stabilization method based on an inertial measurement unit IMU, in order to solve the image stabilization caused by the inability to accurately calculate the global motion estimation when the video image sequence features collected by the camera are single, similar and complex. problem

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