Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle

Unmanned Aerial Vehicles (UAVs) equipped with lightweight and low-cost cameras have grown in popularity and enable new applications of UAV technology. However, the video retrieved from small size UAVs is normally in low-quality due to high frequency jitter. This thesis presents the development of vi...

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Main Author:	Mazlan, Mohd. Farizal Firdaus
Format:	Thesis
Language:	English
Published:	2017
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/86019/1/MohdFarizalFirdausMFKE2017.pdf
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id	my-utm-ep.86019
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spelling	my-utm-ep.860192020-08-30T08:49:31Z Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle 2017 Mazlan, Mohd. Farizal Firdaus TK Electrical engineering. Electronics Nuclear engineering Unmanned Aerial Vehicles (UAVs) equipped with lightweight and low-cost cameras have grown in popularity and enable new applications of UAV technology. However, the video retrieved from small size UAVs is normally in low-quality due to high frequency jitter. This thesis presents the development of video stabilization algorithm implemented on Field Programmable Gate Array (FPGA). The video stabilization algorithm consists of three main processes, which are motion estimation, motion stabilization and motion compensation to minimize the jitter. Motion estimation involves block matching and Random Sample Consensus (RANSAC) to estimate the affine matrix that defines the motion perspective between two consecutive frames. Then, parameter extraction, motion smoothing and motion vector correction, which are parts of the motion stabilization, are tasked in removing unwanted camera movement. Finally, motion compensation stabilizes two consecutive frames based on filtered motion vectors. In order to facilitate the ground station mobility, this algorithm needs to be processed onboard the UAV in real-time. The nature of parallelization of video stabilization processing is suitable to be utilized by using FPGA in order to achieve real-time capability. The implementation of this system is on Altera DE2-115 FPGA board. Full hardware dedicated cores without Nios II processor are designed in stream-oriented architecture to accelerate the computation. Furthermore, a parallelized architecture consisting of block matching and highly parameterizable RANSAC processor modules show that the proposed system is able to achieve up to 30 frames per second processing and a good stabilization improvement up to 1.78 Interframe Transformation Fidelity value. Hence, it is concluded that the proposed system is suitable for real-time video stabilization for UAV application. 2017 Thesis http://eprints.utm.my/id/eprint/86019/ http://eprints.utm.my/id/eprint/86019/1/MohdFarizalFirdausMFKE2017.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:132551 masters Universiti Teknologi Malaysia, Faculty of Engineering - School of Electrical Engineering Faculty of Engineering - School of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Mazlan, Mohd. Farizal Firdaus Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle
description	Unmanned Aerial Vehicles (UAVs) equipped with lightweight and low-cost cameras have grown in popularity and enable new applications of UAV technology. However, the video retrieved from small size UAVs is normally in low-quality due to high frequency jitter. This thesis presents the development of video stabilization algorithm implemented on Field Programmable Gate Array (FPGA). The video stabilization algorithm consists of three main processes, which are motion estimation, motion stabilization and motion compensation to minimize the jitter. Motion estimation involves block matching and Random Sample Consensus (RANSAC) to estimate the affine matrix that defines the motion perspective between two consecutive frames. Then, parameter extraction, motion smoothing and motion vector correction, which are parts of the motion stabilization, are tasked in removing unwanted camera movement. Finally, motion compensation stabilizes two consecutive frames based on filtered motion vectors. In order to facilitate the ground station mobility, this algorithm needs to be processed onboard the UAV in real-time. The nature of parallelization of video stabilization processing is suitable to be utilized by using FPGA in order to achieve real-time capability. The implementation of this system is on Altera DE2-115 FPGA board. Full hardware dedicated cores without Nios II processor are designed in stream-oriented architecture to accelerate the computation. Furthermore, a parallelized architecture consisting of block matching and highly parameterizable RANSAC processor modules show that the proposed system is able to achieve up to 30 frames per second processing and a good stabilization improvement up to 1.78 Interframe Transformation Fidelity value. Hence, it is concluded that the proposed system is suitable for real-time video stabilization for UAV application.
format	Thesis
qualification_level	Master's degree
author	Mazlan, Mohd. Farizal Firdaus
author_facet	Mazlan, Mohd. Farizal Firdaus
author_sort	Mazlan, Mohd. Farizal Firdaus
title	Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle
title_short	Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle
title_full	Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle
title_fullStr	Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle
title_full_unstemmed	Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle
title_sort	embedded video stabilization system on field programmable gate array for unmanned aerial vehicle
granting_institution	Universiti Teknologi Malaysia, Faculty of Engineering - School of Electrical Engineering
granting_department	Faculty of Engineering - School of Electrical Engineering
publishDate	2017
url	http://eprints.utm.my/id/eprint/86019/1/MohdFarizalFirdausMFKE2017.pdf
_version_	1747818481244438528

Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle

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