A Motion Device for a Stabilized Vehicle Camera System with Control Parameter Optimization

Stable image processing often needs movable camera systems. Either the camera has to be steered into desired gaze directions, for example during the tracking of objects, or an inertially stabilized camera image is needed as a basis for robust image processing algorithms. In many applications combinations of both situations are possible. In this work the design and implementation of a camera motion device that serves as an experimental platform for laboratory purposes as well as a prototype of a stabilized vehicle camera is presented. In the vehicle application, the inertial stabilized camera is the basis for different driving assistance systems based on robust optical scene interpretation. For the inertial stabilization of the camera, the human gaze stabilization system has been used as a pattern. An approach to an optimal regulation tuning for the device in the given application during typical operation is described. The results of the optimization are presented. The optimized system has been validated during test drives