Design of an electronic image stabilization algorithm for flapping-wing flying robots

Due to the periodic pitch and rolling movement of the flapping-wing flying robot during flight, this paper employs an electronic image stabilization algorithm based on ORB and sliding mean filtering to the video to enhance the clarity and stability of the real-time imaging effect. First, the algorithm is designed to estimate the flutter period based on the image characteristics, given that the jitter period of aerial images of a flapping-wing flying robot is consistent with the wing flutter period. Second, the motion filtering algorithm associated with the flutter period adjust the filtering parameters dynamically and adaptively for different flight conditions. To test the feasibility and stability of the strategy, the visual imaging device is attached to a flapping-wing flying robot for flight experiments. The experimental findings indicate that the algorithm proposed in this paper exhibits a superior stabilization effect in comparison to the commonly employed electronic stabilization algorithm.