Animals with foveated vision, including humans, experience microsaccades, small, rapid eye movements that they are not aware of. Inspired by this phenomenon, we develop a method for "Artificial Microsaccade Compensation". It can stabilize video captured by a tailless ornithopter that has resisted attempts to use camera-based sensing because it shakes at 12-20 Hz. Our approach minimizes changes in image intensity by optimizing over 3D rotation represented in SO(3). This results in a stabilized video, computed in real time, suitable for human viewing, and free from distortion. When adapted to hold a fixed viewing orientation, up to occasional saccades, it can dramatically reduce inter-frame motion while also benefiting from an efficient recursive update. When compared to Adobe Premier Pro's warp stabilizer, which is widely regarded as the best commercial video stabilization software available, our method achieves higher quality results while also running in real time.
翻译：具有中央凹视觉的动物，包括人类，会经历微眼动——一种微小、快速且自身无法察觉的眼球运动。受此现象启发，我们开发了一种“人工微眼动补偿”方法。该方法能够稳定由无尾扑翼飞行器拍摄的视频，这类飞行器因以12-20 Hz的频率抖动，此前一直难以应用基于摄像头的传感技术。我们的方法通过优化SO(3)群中表示的三维旋转，最小化图像强度的变化。这产生了一种实时计算、适合人眼观看且无失真的稳定视频。当该方法被调整为保持固定观察方向（偶尔允许眼跳）时，不仅能显著减少帧间运动，还能受益于高效的递归更新。与广泛认为是最佳商用视频稳定软件的Adobe Premiere Pro的扭曲稳定器相比，我们的方法在实现更高质量结果的同时，还能实时运行。
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