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A Method of Intentional Movement Estimation of Oblique Small-UAV Videos Stabilized Based on Homography Model

机译：基于单应性模型的稳定小型UAV倾斜视频的有意运动估计方法

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摘要

The airborne video streams of small-UAVs are commonly plagued with distractive jittery and shaking motions, disorienting rotations, noisy and distorted images and other unwanted movements. These problems collectively make it very difficult for observers to obtain useful information from the video. Due to the small payload of small-UAVs, it is a priority to improve the image quality by means of electronic image stabilization. But when small-UAV makes a turn, affected by the flight characteristics of it, the video is easy to become oblique. This brings a lot of difficulties to electronic image stabilization technology. Homography model performed well in the oblique image motion estimation, while bringing great challenges to intentional motion estimation. Therefore, in this paper, we focus on solve the problem of the video stabilized when small-UAVs banking and turning. We attend to the small-UAVs fly along with an arc of a fixed turning radius. For this reason, after a series of experimental analysis on the flight characteristics and the path how small-UAVs turned, we presented a new method to estimate the intentional motion in which the path of the frame center was used to fit the video moving track. Meanwhile, the image sequences dynamic mosaic was done to make up for the limited field of view. At last, the proposed algorithm was carried out and validated by actual airborne videos. The results show that the proposed method is effective to stabilize the oblique video of small-UAVs.
机译：小型无人飞行器的机载视频流通常会出现分散注意力的抖动和摇晃动作，旋转方向混乱，噪点和失真图像以及其他不必要的运动。这些问题共同使观察者很难从视频中获得有用的信息。由于小型UAV的有效载荷较小，因此优先考虑通过电子图像稳定来提高图像质量。但是当小型无人机转向时，受其飞行特性的影响，视频很容易倾斜。这给电子图像稳定技术带来了很多困难。同构模型在倾斜图像运动估计中表现良好，同时给故意运动估计带来了巨大挑战。因此，在本文中，我们着重解决小型UAV银行转弯时视频稳定的问题。我们关注小型无人飞行器的飞行以及固定转弯半径的弧线。因此，在对飞行特性和小型无人机的转弯路径进行了一系列实验分析之后，我们提出了一种新的估计故意运动的方法，其中使用了帧中心的路径来拟合视频运动轨迹。同时，对图像序列进行了动态拼接，以弥补有限的视野。最后，通过实际的机载视频对提出的算法进行了验证。结果表明，该方法对稳定小型无人机的倾斜视频是有效的。

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