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A real-time electronic image stabilization method based on inertial measurement unit imu

An inertial measurement unit and electronic image stabilization technology, applied in the field of image processing, can solve problems such as inability to accurately calculate global motion estimation and single features

Inactive Publication Date: 2019-04-30
CHANGCHUN UNIV OF SCI & TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0004] 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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  • A real-time electronic image stabilization method based on inertial measurement unit imu
  • A real-time electronic image stabilization method based on inertial measurement unit imu
  • A real-time electronic image stabilization method based on inertial measurement unit imu

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Embodiment Construction

[0045] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0046] Step 1, IMU and camera calibration

[0047] (1a) Refer to figure 2 It can be seen that the IMU coordinate system and the camera coordinate system do not coincide when the IMU is mounted on the camera. Through the relationship between the two coordinate systems and the world coordinate system, the relative pose calibration of the IMU coordinate system and the camera coordinate system makes the two The coordinate systems coincide. First, data acquisition is performed on the IMU and the camera at the same time. Obtain the pose output information of the IMU and capture the video image information generated by the camera.

[0048] (1b) Obtain the projection relationship from the spatial three-dimensional point to the image through the Zhang Zhengyou calibration method: sm=HM, and solve the internal parameter K and external parameter R of the camera acco...

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Abstract

The invention relates to a real-time electronic image stabilization method based on an inertial measurement unit (IMU), which is characterized in that: the IMU and the camera trigger a time synchronization model, and the IMU and the camera calibrated in the same coordinate system are moved at the same time. The inflection point information generated by the two coordinate systems is time-aligned. The specific steps are as follows: by calibrating the relative pose between the IMU and the camera coordinate system, and then using the own posture change data sensed by the IMU as the basis for motion compensation of the previous and next frames. Then complete the process of electronic image stabilization; it is an electronic image stabilization method that does not rely on scene image characteristics; it can especially effectively deal with inaccurate or missing feature information matching caused by complex or single scenes. The present invention proposes the relative pose calibration of the IMU and the camera, and solves the conversion between the IMU coordinate system and the camera coordinate system.

Description

technical field [0001] The present invention relates to a method of measuring camera shake, estimating the model of camera shake, 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 feat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00G06T7/80
CPCG06T2207/30244G06T2207/10016G06T5/80
Inventor 方明田颖徐晶任正玮付飞蚺
Owner CHANGCHUN UNIV OF SCI & TECH