Real-Time Image-Based Vibration Extraction with Memory-Efficient Optical Flow and Block-Based Adaptive Filter

Abstract

In this paper, we propose a real-time vibration extraction system, which extracts vibration component within a given frequency range from videos in real time, for realizing tremor suppression used in microsurgery assistance systems. To overcome the problems in our previous system based on the mean Lucas-Kanade (LK) optical flow of the whole frame, we have introduced a new architecture combining dense optical flow calculated with simple feature matching and block-based band-pass filtering using band-limited multiple Fourier linear combiner (BMFLC). As a feature of optical flow calculation, we use the simplified rotation-invariant histogram of oriented gradients (RIHOG) based on a gradient angle quantized to 1, 2, or 3 bits, which greatly reduces the usage of memory resources for a frame buffer. An obtained optical flow map is then divided into multiple blocks, and BMFLC is applied to the mean optical flow of each block independently. By using the L¹-norm of adaptive weight vectors in BMFLC as a criterion, blocks belonging to vibrating objects can be isolated from background at low cost, leading to better extraction accuracy compared to the previous system. The whole system for 480p and 720p resolutions can be implemented on a single Xilinx Zynq-7000 XC7Z020 FPGA without any external memory, and can process a video stream supplied directly from a camera at 60fps.