Video Stabilization Algorithm for Vineyard Robots

抄録

Robots used at vineyards are either autonomous or tele-operated by a remote operator who controls the robot motion based on a live video feed from the robot’s cameras. Unlike structured environments like buildings which have smooth ground surface, the surface of vineyards are uneven. There could be jitters in the video due to a bumpy ground, or loose and vibrating mechanical frame on which the camera has been mounted. Jitters or shakes in these videos are undesired for tele-operation, and to maintain desired quality of service. In this paper, we present an algorithm to stabilize the undesired jitters in a shaky video. The algorithm works by tracking robust feature points in the successive frames of the camera, smoothing the trajectory, and generating desired transformations to output a stabilized video.