1. Video Stabilization Control and Robotics Laboratory Winter 2012 1 semester project Instructor: IdoNachtom Students: Pavel Shpilberg

2. Topics • Introduction • Problem definition • Stabilization • Vignetting • Illumination • GUI • Final results

3. Introduction • In this project we had to stabilize video coming from a moving robot. • Besides the stabilization we had to create output movie more pleasant to viewer. • Created simple GUI for investigating the algorithm performance .

4. Problem definiton • Instability in x and y • Vignetting • Illumination between the frames

5. Stabilization • We used for stabilization the partial projection method Y stabilization X stabilization + interpolation

6. Stabilization… • Additional problems: • Robot parts in the image & nature of movement • Solution: Mask definition (binary/numerical) • Robot turns • Solution: Buffer saturation

7. Stabilization… • We checked the idea of improving the algorithm Gradient Normal Edge (x/y)

8. Vignetting • We are having reduction of brightness • compared to picture center

9. X Output פרייInput image LPF 1/x • Vignetting • In order to discover the brightness function- pass the image through LPF • Then we divide the image at the brightness function

10. Vignetting… • For time consuming we use average filter for all frames: • This is creating problem for some frames:

11. Illumine Frames Illumination • In order to solve the problem of inconstant illumination in time we implemented filter • Additional study was performed in calibrating each quarter of the image – due to some blinking

12. GUI • We have created an convenient way to track algorithm performance:

13. Final results