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The Scientific World Journal
Volume 2014 (2014), Article ID 130806, 7 pages
Research Article

Design of Jitter Compensation Algorithm for Robot Vision Based on Optical Flow and Kalman Filter

1College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang 310018, China
2Department of Control Science and Engineering, Zhejiang University, Hangzhou, Zhejiang 310007, China

Received 1 August 2013; Accepted 14 November 2013; Published 29 January 2014

Academic Editors: Y. Lu, J. Shu, and F. Yu

Copyright © 2014 B. R. Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Image jitters occur in the video of the autonomous robot moving on bricks road, which will reduce robot operation precision based on vision. In order to compensate the image jitters, the affine transformation kinematics were established for obtaining the six image motion parameters. The feature point pair detecting method was designed based on Eigen-value of the feature windows gradient matrix, and the motion parameters equation was solved using the least square method and the matching point pairs got based on the optical flow. The condition number of coefficient matrix was proposed to quantificationally analyse the effect of matching errors on parameters solving errors. Kalman filter was adopted to smooth image motion parameters. Computing cases show that more point pairs are beneficial for getting more precise motion parameters. The integrated jitters compensation software was developed with feature points detecting in subwindow. And practical experiments were conducted on two mobile robots. Results show that the compensation costing time is less than frame sample time and Kalman filter is valid for robot vision jitters compensation.