Image Stabilization for Teleoperated Biped Robots
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Solution Overview
Problem
Robotic systems with moving cameras capture unstable images due to erratic movement, leading to shaky videos that are difficult to view, as the camera's position changes during operation, causing discomfort to the viewer.
Innovation Solution
The implementation involves determining boundaries around a selected object within an image using depth measurements and shifting these boundaries based on the camera's deviation from a reference position to stabilize the image, ensuring the object remains centered, which is then displayed on a display device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moves to perform operations, then the robot's operational capability is improved, but the image stability deteriorates due to camera movement
Solution Approach 1:
The patent introduces an intermediary stabilization system that includes a stabilization camera mounted on a separate stabilization mechanism (such as a gimbal or floating platform) independent from the robot's body. This intermediary camera captures images while isolated from the robot's movements, thereby maintaining image stability even when the robot is actively moving and operating.
Solution Approach 2:
The patent divides the imaging function into two separate segments: a robot-mounted camera that moves with the robot to maintain operational capability, and a separate stabilization camera that remains isolated from robot movements. This segmentation allows each component to fulfill its specific function without compromising the other - the robot can move freely while the stabilization camera maintains steady image capture.
2Adaptability or versatility
If the camera is coupled to the moving robot, then the robot's operational flexibility is improved, but the image quality deteriorates due to shaking and erratic movement
Solution Approach 1:
The stabilization camera acts as an intermediary imaging device that is coupled to the robot but isolated from its movements through a stabilization mechanism. This allows the robot to maintain full operational flexibility while the intermediary camera captures high-quality, stable images by filtering out the robot's shaking and erratic movements.
Solution Approach 2:
The patent effectively creates a copy of the imaging function with the stabilization camera, which replicates the scene capture capability while being decoupled from the robot's movements. This copied imaging system produces high-quality images by observing the environment without being affected by the robot's motion, thereby resolving the conflict between operational flexibility and image quality.
3Adaptability or versatility
If the camera position changes during robot operation, then the robot's adaptability to different positions is improved, but the viewer comfort deteriorates due to shaky videos
Solution Approach 1:
The stabilization camera serves as an intermediary that provides a stable viewing experience for the teleoperator. While the robot can move to any position needed for operation, the stabilization camera maintains a steady camera position relative to the environment, thereby ensuring viewer comfort by eliminating shaking and erratic movements in the video feed.
Data Source
AI summary
An example method for stabilizing images involves obtaining an image of an environment from a perspective of the robot. The method also involves receiving one or more depth measurements. The depth measurements correspond to locations within the image. The method further involves determining first boundaries around a particular location within a section of the image. The particular location is approximately centered within the first boundaries. Additionally, the method involves determining an extent of deviation of a particular position of the image capture device from a reference position. The particular position is a position of the image capture device at a point in time at which the image was captured. Further, the method involves determining second boundaries by shifting the first boundaries by an amount proportional to the determined extent of deviation. The method additionally involves providing, to a display device, a portion of the image defined by the second boundaries.