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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Bioinspired Image Stabilization Control Using the Adaptive Gain Adjustment Scheme of Vestibulo-Ocular Reflex
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Bioinspired Image Stabilization Control Using the Adaptive Gain Adjustment Scheme of Vestibulo-Ocular Reflex

机译：生物启发式图像稳定控制，使用自适应增益调整方案的动眼反射。

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In this paper, an image stabilization control inspired by biological gaze stabilization mechanism is addressed. An image taken from the camera mounted on a mobile robot undergoes undesirable fluctuation that leads to poor system performance in autonomous or manual operation. Therefore, image stabilization of such camera system is essential and has been received much attention in the machine vision literature. On the other hand, a human is capable of stabilizing visual input, and this biological image stabilization mechanism is generally known as vestibulo-ocular reflex (VOR) in physiology. A particular interest of this paper is to realize this VOR features to image stabilization control problem. The mathematical interpretation of VOR in terms of the stabilization control is derived and a VOR adaptation rule is newly proposed. In the proposed method, the reference to control system is adaptively modulated by an adaptive gain to minimize residual vibration of the camera as the VOR gain converges to optimal state. To verify the proposed method, the linear shaft actuator-based image stabilization device is briefly introduced first, and it is utilized for the simulation model and experiments. Simulink simulation and experiments were conducted to demonstrate the proposed method, and results showed the proposed scheme contributes to image stabilizing effect. The image stabilization performance were validated from the vibration measurements and interframe transformation fidelity of the image sequence. From simulation and experimental results, it will be shown that the proposed method has a high potential to be applied in image stabilization control under significant system variation and uncertainties.
机译：本文提出了一种基于生物凝视稳定机制的图像稳定控制技术。从安装在移动机器人上的摄像头拍摄的图像会发生不希望的波动，从而导致自动或手动操作中的系统性能变差。因此，这种照相机系统的图像稳定是必不可少的，并且在机器视觉文献中已引起广泛关注。另一方面，人类能够稳定视觉输入，并且该生物学图像稳定机制在生理学中通常被称为前庭眼反射（VOR）。本文特别感兴趣的是实现此VOR功能以解决图像稳定控制问题。推导了基于稳定控制的VOR的数学解释，并提出了VOR自适应规则。在提出的方法中，控制系统的参考由自适应增益进行自适应调制，以在VOR增益收敛至最佳状态时将摄像机的残留振动减至最小。为了验证该方法，首先简要介绍了基于线性轴执行器的图像稳定装置，并将其用于仿真模型和实验。进行了Simulink仿真和实验，证明了该方法的有效性，结果表明该方案有助于图像稳定效果。通过图像序列的振动测量和帧间变换保真度验证了图像稳定性能。从仿真和实验结果可以看出，该方法在系统变化较大和不确定性较大的情况下，在图像稳定控制中具有较高的应用潜力。

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