NDLI: IMU-aided image stabilization and tracking in a HSM-driven camera positioning unit

Content Provider	IEEE Xplore Digital Library
Author	Antonello, Riccardo Oboe, Roberto Ramello, Alessandro Ito, Kazuaki Felicini, Nicholas Cenedese, Angelo
Copyright Year	2013
Description	Author affiliation: Department of Information Eng., University of Padova, Padova, Italy, 35131 (Felicini, Nicholas; Cenedese, Angelo) \|\| Dept. of Electrical and Electronic Eng., Toyota National College of Technology, Toyota, 4718525, Japan (Ito, Kazuaki) \|\| Department of Management Eng., University of Padova, Vicenza, Italy, 36100 (Antonello, Riccardo; Oboe, Roberto; Ramello, Alessandro)
Abstract	Camera positioning units for surveillance applications are often mounted on mobile supports or vehicles. In such circumstances, the motion of the supporting base affects the camera field of view, thus making the task of pointing and tracking a specific target problematic, especially when using low cost devices that are usually not equipped with rapid actuators and fast video processing units. Visual tracking capabilities can be improved if the camera field of view is preliminarily stabilized against the movements of the base. Although some cameras available on the market are already equipped with an optical image stabilization (OIS) system, implemented either in the camera lenses or in the image sensor, these are usually too expensive to be installed on low-end positioning devices. A cheaper approach to image stabilization consists of stabilizing the camera motion using the motors of the positioning unit and the inertial measurements provided by a low-cost MEMS Inertial Measurement Unit (IMU). This paper explores the feasibility of applying such image stabilization system to a low cost pan-tilt-zoom (PTZ) camera positioning unit driven by hybrid stepper motors (HSMs), in order to aid the task of pointing and tracking of a specific target on the camera image plane. In the proposed solution, a two-level cascaded control structure, consisting of inner inertial stabilizing control loop and an outer visual servoing control loop, is used to control the PTZ unit. Several tests are carried out on a real device mounted on a moving table actuated by a 6 degrees-of-freedom pneumatic hexapod. Realistic motions are recreated by using the data recordings taken aboard of a patrolling ship.
Starting Page	1
Ending Page	7
File Size	1316477
Page Count	7
File Format	PDF
ISBN	9781467351942
ISSN	21635145
e-ISBN	9781467351935
DOI	10.1109/ISIE.2013.6563833
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-05-28
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Target tracking Visualization Visual servoing Regulators Rotation measurement
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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