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Video stabilization system without phantom movements for cameras onboard rotocrafts

Abstract:

The main goal of this article is a stabilization system for cameras onboard mini Rotor UAVs that minimizes the effect of the undesired movements on captured videos by an inertial stabilized platform (Gimbal). The system includes an onboard computer for image processing, communication interface, embayed video stabilization algorithm and results. The algorithm is performed by microprocessor Odroid XU4. The transfer function of the system is processed with a low-pass filter and Kalman Filter with control action data to estimate the motion intention. For resting, we use the STORM drone V3 that receives the signal from the radio control by R9D, and transmits it to the Odroid XU4. The microprocessor uses this signal and the image captured by the camera for the Gimbal control. Performance and effectiveness tests are carried out with the Inter-Frame Fidelity (ITF) evaluation metric.