Estabilización de vídeo en tiempo real: aplicaciones en teleoperación de micro vehículos aéreos de ala rotativa

• Autores: Wilbert Geovanny Aguilar Castillo
• Directores de la Tesis: Cecilio Angulo Bahón (dir. tes.)
• Lectura: En la Universitat Politècnica de Catalunya (UPC) ( España ) en 2015
• Idioma: español
• Tribunal Calificador de la Tesis: José Carlos García Rodríguez (presid.), Manel Velasco (secret.), Sergio Escalera Guerrero (voc.)
• Programa de doctorado: Programa Oficial de Doctorado en Automática, Robótica y Visión
• Materias:
  • Matemáticas
    • Ciencia de los ordenadores
      • Inteligencia artificial
      • Informática
  • Ciencias tecnológicas
    • Tecnología de la instrumentación
      • Ingeniería de control
• Enlaces
  • Tesis en acceso abierto en: TDX
• Resumen

  • Micro Aerial Vehicles (MAVs), a subset of Unmanned Aerial Vehicles (UAVs), also known as drones, are becoming popular for several applications and gaining interest due to advantages as manufacturing and maintenance cost, size and weight, energy consumption, and flight maneuverability. Required skills for drone teleoperators being lower than for aircraft pilots, however their training process can last several weeks or months depending on the target at hands. In particular, this process is harder when teleoperators cannot observe directly the vehicle, depending only on onboard sensors and cameras. The presence of oscillations in the captured video is a major problem with cameras on UAVs. It is even more complex for MAVs because the external disturbances increase the instability. There exists mechanical video stabilizers that reduce camera oscillations, however this mechanical device adds weight and increases the manufacturing cost, energy consumption, size, weight, and the system becomes less safe for people. In this thesis, we propose to develop video stabilization software algorithms, without additional mechanical elements in the system, to be applied in real-time during the UAV navigation. In the literature, there are a few video stabilization algorithms able to be applied in real-time, but most of them generate false motion (phantom movements) in the stabilized image. Our algorithm represents a good tradeoff between stable video recording and simultaneously keeping UAV real motion. Several experiments with MAVs have been performed and the employed measurements demonstrate the good performance of the introduced algorithm.