This paper proposes a robust image stabilization system for a mobile robot using an Extended Kalman Filter (EKF). Though image information is one of the most efficient data used for robot navigation, it is subjected to noise which is the result of internal vibration as well as external factors such as uneven terrain, stairs, or marshy surfaces. The camera vibration deteriorates the image resolution by destroying the image sharpness, which seriously prevents mobile robots from recognizing their environment for navigation. In this paper, an inclinometer was used to measure the vibration angle of the camera system mounted on the robot to obtain a reliable image by compensating for the angle of the camera vibration. In addition the angle prediction obtained by using the EKF enhances the image response analysis for real time performance. The experimental results show the effectiveness of the proposed system used to compensate for the blurring of the images.

• 최윤원
• 강태훈
• 이석규