The reference frame alternation strategy in image stabilisation based on error controlling

Reasonable selection of reference frame plays a paramount role in grey-scale projection algorithm. This paper demonstrates the error between vertical direction projection vector, which is calculated by the grey-scale projection algorithm, and angle of pitching, which is measured by an IMU sensor. Afterwards, the algorithm finds the vector and error are dependent. Controlling the vector less than a certain value can make the error stable and small. That is the method to alter the reference frame. Finally, there is an experiment designed to confirm the effect of this method. The result demonstrates that the availability field of view is expanded 2.5 times and the frames stay stable. This demonstrates that the method to alter the reference frame is effective.