The spatial-based method has become the most widely used method in improving the visibility of images. The visibility improving is mainly to remove the noise in the image, in order to trade off denoising and detail maintaining. A novel adaptive non-local means-based nonlinear fitting method is proposed in this paper. Firstly, according to the smoothness of the intensity around the central pixel, eight kinds of templates with different precision are exploited to approximate the central pixel through a novel adaptive non-local means filter design; the approximate weight coefficients of templates are derived from the approximation credibility. Subsequently, the fractal correction is used to smooth the denoising results. Eventually, the Rockafellar multiplier method is employed to generalize the smooth plane fitting to any geometric surface, thus yielding the optimal fitting of the center pixel approximation. Through a large number of experiments, it is clearly elucidated that compared with the classical spatial iteration-based methods and the recent denoising algorithms, the proposed algorithm is more robust and has better effect on denoising, while keeping more original details during denoising.

For collecting image high precisely, the application-oriented type synthesis and kinematics analysis for parallel vehicle-based stabilized platform are systematically carried out. Firstly, taking multi-camera install center and vehicle trajectory offset as research objects, the influence of external perturbation on visual system is analyzed quantitatively by numerical calculation and field testing. On this basis, a new type of 2SPR/RPS parallel mechanism with two-translational and one-rotational degree of freedoms is presented. Secondly, by analyzing the motion characteristic of 2SPR/RPS parallel mechanism, the motion adjoint transformation and input–output mapping for parallel vehicle-based stabilized platform are proposed by screw description of rigid-body movement. In addition, an experimental prototype is developed, and the results between numerical examples and semi-physical simulations are compared in order to prove the validity of theoretical analysis. Finally, based on the concept of influence of external perturbations on tunnel detecting system, an external parameter identify method for coupling pose and object distance of visual system is studied. The results can be extended to development, application, and performance evaluation for parallel vehicle-based stabilized platform in next step.

A new approach for analysing dynamics of complexity multi-rigid-body systems is proposed in this paper, and it is applied to thestudy of a parallel inertial stabilized platform.