@inproceedings{713b5b513c4a4feb927125c8d86f49c1,
title = "Development of image stabilization system using extended Kalman filter for a mobile robot",
abstract = "This paper proposes a robust image stabilization system for a mobile robot using Extended Kalman Filter (EKF). Though image information is one of the most efficient data for robot navigation, it is subject to noise which results from internal vibration as well as external factors such as uneven terrain, stairs, or marshy surface. The vibration of camera deteriorates the definition of image by destroying image sharpness, which seriously prevents mobile robots from recognizing their environment for navigation. In this paper, inclinometer was used to measure the vibration angle of the camera system mounted on the robot to obtain a reliable image by compensating for the angle of the camera shake caused by vibration. In addition angle prediction by using the EKF enhances responsibility of image analysis for real time performance. The Experimental results show effectiveness of the proposed system to compensate for the blurring of the images.",
keywords = "Extended Kalman Filter, Inclinometer, image stabilization, mobile robot",
author = "Choi, {Yun Won} and Kang, {Tae Hun} and Lee, {Suk Gyu}",
year = "2010",
doi = "10.1007/978-3-642-13495-1_83",
language = "English",
isbn = "3642134947",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
number = "PART 1",
pages = "675--682",
booktitle = "Advances in Swarm Intelligence - First International Conference, ICSI 2010, Proceedings",
edition = "PART 1",
note = "1st International Conference on Advances in Swarm Intelligence, ICSI 2010 ; Conference date: 12-06-2010 Through 15-06-2010",
}