Abstract
The implementation of a video stabilization system of the NAO robot is presented through the data of the IMU, this stabilized image is used to detect and track QR codes. Once the QR code is located, the NAO robot tracks and monitors it. The system was developed under the ROS platform, with modules implemented in C++ and Python languages. The system provides data for subsequent processes, which need to use video data for object recognition, task tracking, among others. Can get sequences of stable images and with the least amount of vibrations or sudden movements. One of the main benefits of this work is the visual tracking of objects through stable images during walking of the NAO robot, which introduces an erratic motion of the head camera, the effect that is mitigated with the digital visual gyrostabilized method presented in this work.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Wilbert Geovanny Aguilar Castillo: Estabilización de vídeo en tiempo real: aplicaciones en teleoperación de micro vehículos aéreos de ala rotativa. Ph.D. thesis, Universitat Politècnica de Catalunya (2015)
Alberto Granados Calderay: Implementación, análisis y optimización de un estabilizador software de imágenes. Proyecto Fin de Carrera/Grado. Ingeniería en Tecnologías Industriales. Universidad Politécnica de Madrid (2018)
Hu, W.-C., Chen, C.-H., Chen, T.-Y., Peng, M.-Y., Su, Y.-J.: Real-time video stabilization for fast-moving vehicle cameras. Multimed. Tools Appl. 77(1), 1237–1260 (2018)
Kam, H.C., Yu, Y.K., Wong, K.H.: An improvement on aruco marker for pose tracking using kalman filter. In 2018 19th IEEE/ACIS International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing (SNPD), pp. 65–69. IEEE (2018)
Meneses, G., Peñata, D., Torrecilla, J., Molina, E.: Diseño de un giroestabilizador para fotografía aérea. In: Congreso Internacional de Ingeniería Mecatrónica-UNAB, vol. 2 (2011)
Odelga, M., Kochanek, N., Bülthoff, H.H.: Efficient real-time video stabilization for uavs using only imu data. In: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), pp. 210–215. IEEE (2017)
Raúl Picón Calzada: Estabilización de vídeo en tiempo real para aplicaciones de vídeo vigilancia. Universitat Politècnica de Catalunya. Proyecto Fin de Carrera/Grado. Departament de Teoria del Senyal i Comunicacions. Escola Universitária d’Enginyeria Técnica Industrial de Terrassa (2008)
Ryu, Y.G., Roh, H.C., Kim, S.J., An, K.H., Chung, M.J.: Digital image stabilization for humanoid eyes inspired by human vor system. In: 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2301–2306. IEEE (2009)
Seo, K., Robotics, A.: Using nao: introduction to interactive humanoid robots. AldeBaran Robotics (2013)
Smith, M.J., Boxerbaum, A., Peterson, G.L., Quinn, R.D.: Electronic image stabilization using optical flow with inertial fusion. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1146–1153. IEEE (2010)
Windau, J., Itti, L.: Multilayer real-time video image stabilization. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2397–2402. IEEE (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Alquisiris-Quecha, O., Martinez-Carranza, J. (2020). Video Stabilization of the NAO Robot Using IMU Data. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 831. Springer, Cham. https://doi.org/10.1007/978-3-030-20190-6_6
Download citation
DOI: https://doi.org/10.1007/978-3-030-20190-6_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20189-0
Online ISBN: 978-3-030-20190-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)