光子学报, 2018, 47 (1): 0110002, 网络出版: 2018-01-30  

基于最小生成树与改进卡尔曼滤波器的实时电子稳像方法

Real-time Video Stabilization Based on Minimal Spanning Tree and Modified Kalman Filter
作者单位
浙江大学 现代光学仪器国家重点实验室,杭州 310027
摘要
为解决稳像过程中局部运动分量导致的全局运动估计不准确问题, 提出了一种实时电子稳像方法.该方法提出基于最小生成树的特征点迭代筛选算法, 采用相邻帧图像特征点最小生成树的相似度衡量特征点匹配精度, 剔除错误匹配的特征点和局部运动前景上的特征点, 避免了局部运动分量的影响. 采用自适应加权法修正相邻帧之间的仿射变换矩阵, 解决由于运动前景遮挡造成的背景特征点数量稀少进而导致的稳像晃动问题. 针对相机跟拍与随机抖动分量混合问题, 提出基于运动矢量队列的双卡尔曼滤波器, 自适应地修正卡尔曼滤波器的测量噪声协方差, 动态调整滤波平滑性能, 有效处理同时包含相机跟拍运动与随机抖动分量的视频, 保留相机跟拍分量.实验表明, 该方法对于视频图像中包含局部前景运动和相机跟拍运动的情况, 对比其他3种方法, 仍可以保持良好的稳像效果; 在Intel Core i5 3.30 GHz CPU下, 对于640×360分辨率的彩色图像序列可达到40FPS的稳像帧率, 并且运算过程中无需利用下一帧图像信息, 具有实时稳像的优点.
Abstract
To solve the inaccurate problem of global motion estimation due to local motion in video stabilization, a real-time stabilization method was proposed. The method proposes an approach of feature points iterative filtering algorithm based on minimal spanning tree and applies spanning tree similarity of successive frames to measure feature matching and discard wrong matched points and points in moving foreground. Then, an adaptive weighted method was applied to correct the transformation matrix to solve the wobble problem due to few feature points caused by foreground occlusion. Finally, an modified dual Kalman filters based on motion queue was proposed to correct measurement noise covariance adaptively and adjust smoothess of filter dynamically. It can process videos with intended camera motion and random jitters effectively. Experimental results show that the proposed method can perform well even in situation of local foreground motion and intended camera motion. Under circumstance of Intel Core i5 3.30 GHz CPU, the proposed method can stabilize videos of 640×360 resolution at a rate of 40FPS. And it has real-time advantage since next frame information is not needed during computation.

谢亚晋, 徐之海, 冯华君, 李奇, 陈跃庭. 基于最小生成树与改进卡尔曼滤波器的实时电子稳像方法[J]. 光子学报, 2018, 47(1): 0110002. XIE Ya-jin, XU Zhi-hai, FENG Hua-jun, LI Qi, CHEN Yue-ting. Real-time Video Stabilization Based on Minimal Spanning Tree and Modified Kalman Filter[J]. ACTA PHOTONICA SINICA, 2018, 47(1): 0110002.

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