RealTime Sensor Fusion and Compensation for Widebandwidth Micro Vibration using Gyroscope and Camera An algorithm for vibration compensation in long distance laser positioning applications on a vibrating vehicle is proposed in this paper. The vibration disturbance possesses multiple significant frequency allocating in wide bandwidth with 30 xc2xb5rad amplitude. Such vibration is typical in moving platform based laser positioning and introduces significant displacement at destinations. In this paper, the low and high frequency domain vibration is sensed using the camera and gyroscope accordingly to eliminate any infrastructure requirement. A pyramid based Lucas and Kanade algorithm extracts feature displacement using the camera and a zerophase recursive least square based filter is proposed to remove drift of integrated gyroscope data. A proportional and derivative controller fuse the processed data from both sensors. The resultant data is then proceeded to a piezoelectric driven Fast Steering Mirror system for compensation. A Sliding Mode Controller with Uncertainty and Disturbance Estimator is applied for actuation control. Experiments are conducted and the result show improved accuracy comparing to existing methods.

Laser RangingAssisted Binocular Visual Sensor Tracking System Aimed at improving the low measurement accuracy of the binocular vision sensor along the optical axis in the process of target tracking, we proposed a method for auxiliary correction using a laserranging sensor in this paper. In the process of system measurement, limited to the mechanical performance of the twodimensional turntable, the measurement value of a laserranging sensor is lagged. In this paper, the lag information is updated directly to solve the time delay. Moreover, in order to give full play to the advantages of binocular vision sensors and laserranging sensors in target tracking, federated filtering is used to improve the information utilization and measurement accuracy and to solve the estimated correlation. The experimental results show that the realtime and measurement accuracy of the laser rangingassisted binocular visualtracking system is improved by the direct update algorithm and the federal filtering algorithm. The results of this paper are significant for binocular vision sensors and laserranging sensors in engineering applications involving target tracking systems.