Video Stabilization of the NAO Robot Using IMU Data

Oswualdo Alquisiris-Quecha*, Jose Martinez-Carranza

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter in a book


The implementation of a video stabilization system of the NAO robot is presented through the data of the IMU, this stabilized image is used to detect and track QR codes. Once the QR code is located, the NAO robot tracks and monitors it. The system was developed under the ROS platform, with modules implemented in C++ and Python languages. The system provides data for subsequent processes, which need to use video data for object recognition, task tracking, among others. Can get sequences of stable images and with the least amount of vibrations or sudden movements. One of the main benefits of this work is the visual tracking of objects through stable images during walking of the NAO robot, which introduces an erratic motion of the head camera, the effect that is mitigated with the digital visual gyrostabilized method presented in this work.

Original languageEnglish
Title of host publicationStudies in Computational Intelligence
EditorsAnis Koubaa
PublisherSpringer Verlag
Number of pages16
ISBN (Electronic)978-3-030-20190-6
ISBN (Print)978-3-030-20189-0
Publication statusPublished - 29 Jun 2019

Publication series

NameStudies in Computational Intelligence
ISSN (Print)1860-949X


  • Gyrostabilization
  • Homography
  • IMU
  • NAO
  • QR


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