Image Stabilization Based on Panoramic Dense Optical Flow Matching for Camera on Flapping Wing

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	Image Stabilization Based on Panoramic Dense Optical Flow Matching for Camera on Flapping Wing
	Tian S(田申)1,2; Cui L(崔龙)2; ZLiu ZM(刘钊铭)2; Wang HW(王洪伟)2; Zhang F(张峰)2; Liu QC(刘钦超)2
	2021
会议日期	October 15-17, 2021
会议地点	Beijing, China
关键词	Flapping wing Image stabilization Panoramic dense optical flow PSO
页码	493-500
英文摘要	Image stabilization is a precursor to visual navigation for the flapping wing. Flapping wing is a flexible and efficient bionic aircraft which can switch flight mode freely. It can fly as flexible as rotorcraft and can also be as efficient as fixed-wing. However, violent drift is generated among the image sequence due to the reciprocating periodic flapping of its wings, being hard to be compensated for by conventional methods. In this paper, we proposed a novel image stabilization method base on panoramic dense optical flow matching and employ the method on a self-developed ultra-light flapping wing X-FLAP which weighs only 5 g. The track and vibration of X-FLAP during flight is detected by the Vicon cameras for comprehension of the source of image drift. Furthermore, the proposed method is formulated using the mathematic model of the optical flow and the particle swarm optimization algorithm (PSO). The motion matching algorithm is proposed that is based on the above model and is proven by the experimental results.
源文献作者	Beijing Institute of Technology ; Chinese Institute of Command and Control (CICC) ; IEEE Beijing Section ; Tongji University
产权排序	1
会议录	Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-0-7381-4657-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/30351]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Tian S(田申)
作者单位	1.University of Chinese Academy of Sciences, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Tian S,Cui L,ZLiu ZM,et al. Image Stabilization Based on Panoramic Dense Optical Flow Matching for Camera on Flapping Wing[C]. 见:. Beijing, China. October 15-17, 2021.