让仿生扑翼机摄像头稳如人眼，实时消除12-20Hz抖动
Artificial Microsaccade Compensation: Stable Vision for an Ornithopter
- 用SO(3)优化3D旋转，最小化图像亮度变化实现稳定
- 实时处理，画质优于商用软件Adobe Premier Pro
- 适合对飞行器视频稳定性要求高的视觉系统
具有中央凹视觉的动物（包括人类）会经历微小快速的眼动——微跳变，这种运动人们无法察觉。受此启发，我们提出一种「人工微跳变补偿」方法，可稳定尾部无舵的扑翼飞行器所拍摄的视频，该类飞行器因在12-20赫兹频率下剧烈晃动，长期难以使用基于相机的感知。我们的方法通过在SO(3)中优化三维旋转来最小化图像强度变化，实现实时计算的稳定视频，适合人眼观看且无畸变。当调整为固定视角、仅偶尔进行“眼跳”时，能显著降低帧间运动，并支持高效递归更新。与业界公认的顶级商业视频稳定软件Adobe Premier Pro相比，本方法在画质上表现更优，同时具备实时性。
原文摘要 · Abstract (English)
Animals with foveated vision, including humans, experience microsaccades, small, rapid eye movements that they are not aware of. Inspired by this phenomenon, we develop a method for "Artificial Microsaccade Compensation". It can stabilize video captured by a tailless ornithopter that has resisted attempts to use camera-based sensing because it shakes at 12-20 Hz. Our approach minimizes changes in image intensity by optimizing over 3D rotation represented in SO(3). This results in a stabilized video, computed in real time, suitable for human viewing, and free from distortion. When adapted to hold a fixed viewing orientation, up to occasional saccades, it can dramatically reduce inter-frame motion while also benefiting from an efficient recursive update. When compared to Adobe Premier Pro's warp stabilizer, which is widely regarded as the best commercial video stabilization software available, our method achieves higher quality results while also running in real time.
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