Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China.
Institute of Software, Chinese Academy of Sciences, Beijing 100190, China.
Sensors (Basel). 2022 Mar 28;22(7):2587. doi: 10.3390/s22072587.
Obtaining a stable video sequence for cameras on surface vehicles is always a challenging problem due to the severe disturbances in heavy sea environments. Aiming at this problem, this paper proposes a novel hierarchical stabilization method based on real-time sea-sky-line detection. More specifically, a hierarchical image stabilization control method that combines mechanical image stabilization with electronic image stabilization is adopted. With respect to the mechanical image stabilization method, a gimbal with three degrees of freedom (DOFs) and with a robust controller is utilized for the primary motion compensation. In addition, the electronic image stabilization method based on sea-sky-line detection in video sequences accomplishes motion estimation and compensation. The Canny algorithm and Hough transform are utilized to detect the sea-sky line. Noticeably, an image-clipping strategy based on prior information is implemented to ensure real-time performance, which can effectively improve the processing speed and reduce the equipment performance requirements. The experimental results indicate that the proposed method for mechanical and electronic stabilization can reduce the vibration by 74.2% and 42.1%, respectively.
由于恶劣海况下的剧烈干扰，获取水面载体上摄像机的稳定视频序列始终是一个具有挑战性的问题。针对该问题，本文提出了一种基于实时海天线检测的新颖分层稳定方法。具体来说，采用了一种结合机械图像稳定和电子图像稳定的分层图像稳定控制方法。对于机械图像稳定方法，利用具有三个自由度（DOFs）和鲁棒控制器的万向架进行主要运动补偿。此外，基于视频序列中海天线检测的电子图像稳定方法完成运动估计和补偿。利用 Canny 算法和 Hough 变换检测海天线。值得注意的是，实施了基于先验信息的图像裁剪策略，以确保实时性能，这可以有效提高处理速度并降低设备性能要求。实验结果表明，所提出的机械和电子稳定方法可分别将振动降低 74.2%和 42.1%。
