Compact image stabilization system for small-sized humanoid

Wearable computing has been actively investigated as the dimensions of devices such as computers, sensors and motors are getting smaller. In this work our aim is to develop an image stabilization system for a small-sized humanoid robot as the first step for sharing of visual information between humans. A small-sized humanoid robot is used to simulate a person who captures visual information of a distant site. The developed image stabilization system can be used for an advanced wearable telepresence system. Requirements of an image stabilization system, which can be used as a wearable system, are compactness, lightness in weight, and real time process such as 30 frames/s. We have implemented our image stabilization system to satisfy these requirements. The developed system uses a 3D motion sensor for camera rotation detection, optical flow for camera translation detection and image process for motion compensation. The experimental results show that images from a small-sized humanoid robot can be stabilized by our developed system.