Multi-Frame motion deblurring of video using the natural oscillatory motion of dexterous legged robots

Date

2019-07-18

Author

Gultekin, Gokhan Koray
Saranlı, Afşar

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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Motion blur is a common problem for machine vision applications in legged mobile robotic platforms. Due to the oscillatory walking nature of these platforms, the cameras on them experience disturbances so that most of the captured frames are motion blurred. Motion blur results in loss of information in individual image frames and therefore makes single-frame deblurring an ill-posed problem. The variation in the magnitude of motion blur in consecutive video frames can be exploited to better restore these frames by combining the information available in them. The authors focus on the multi-frame image deblurring problem and propose a promising method to achieve this information fusion especially when the video is corrupted by non-linear blur, such as the case in legged mobile robots. The authors present the theory and results obtained on a realistic motion-blur dataset collected on a representative robotic platform. These results are also compared with a leading single-frame deblurring method and show improvement in particular for video corrupted by linear and non-linear motion blur.

Subject Keywords

Motion Estimation, İmage Restoration, İmage Denoising, Mobile Robots, Cameras, İmage Motion Analysis, Multiframe Motion Deblurring, Natural Oscillatory Motion, Dexterous Legged Robots, Common Problem, Machine Vision Applications, Legged Mobile Robotic Platforms, Oscillatory Walking Nature, Captured Frames, İndividual İmage Frames, Consecutive Video Frames, İnformation Fusion, Nonlinear Blur, Legged Mobile Robots, Realistic Motion-Blur Dataset, Representative Robotic Platform, Leading Single-Frame Deblurring Method, Nonlinear motion blur

URI

https://hdl.handle.net/11511/48509

Collections

Department of Electrical and Electronics Engineering, Article