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More generally, motions are possible in all six degrees of freedom, the other four being roll (rotation about a longitudinal axis), pitch (rotation about a transverse axis), heave (vertical motion), and surge (longitudinal motion superimposed on the steady propulsive motion).
The three gimbal-mounted gyroscopes establish a frame of reference for the vehicle's roll (rotation about the axis running from the front to the rear of the vehicle), pitch (rotation about the axis running left to right), and yaw (rotation about the axis running top to bottom).
Open image in new window Fig. 11 Roll rotation with upward directed thrust Open image in new window Fig. 12 Roll rotation with downward directed thrust.
Figures 11 and 12 shows the roll rotation with upward directed thrust and Fig. 8 with downward directed thrust.
Thus, for the blurry image with slight roll rotation shown as Fig. 5 a, GS-GAC performs much better than S-GAC, significantly suffering less artifacts.
We then have that the homography transform can be decomposed into in-plane translation followed by roll rotation, yielding the following proposition.
Similar(49)
Otherwise, roll rotations will cause the non-uniform blur, where slice GAC can play like non-uniform deblurring method.
In this paper, we propose generalized additive convolution (GAC) model, by which a camera motion trajectory can be decomposed into in-plane translations (slice) or roll rotations (fiber), resulting in slice GAC model or fiber GAC model.
One can easily see that the difference between Fig. 3 c, d is insignificant, which demonstrates that the model in Eq. (18) can be used for modeling camera shaken image with a series of roll rotations.
In GAC model, a camera motion trajectory can be decomposed into a set of camera poses, i.e., in-plane translations (slice) or roll rotations (fiber), which can both be formulated as convolution operation.
In Fig. 11, the first image is of non-uniform blur with slight roll rotations, from which one can see that GAC can achieve more visually plausible deblurring results, such as the statue's face is recovered more clearly, while the uniform deblurring methods usually suffer from ringing artifacts.
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