Tutorial Description
Legged locomotion can be pretty bumpy for any cameras mounted on the robot, which makes computer vision on these platforms more difficult. Using video captured from a Sony Aibo, we attempted to stabilize the image sequence by aligning each image with its predecessor(s). The left frame shows the "raw" video, and the right frame shows the "smoothed" video. Processing was done offline in Matlab. The white bar on the bottom of the right image indicates the robots turning speed. This was a final project for CMU 16-720 Computer Vision course, writeup can be found here: http://ethan.tira-thompson.com/stuff/stabilization/Presentation.pdf
Software camera stabilization on a legged robot 2 - Video
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