Visual Gyroscope: Combination of Deep Learning Features and Direct Alignment for Panoramic Stabilization

In this article we present a visual gyroscope based on equirectangular panoramas. We propose a new pipeline where we take advantage of combining three different methods to obtain a robust and accurate estimation of the attitude of the camera. We quantitatively and qualitatively validate our method on two image sequences taken with a $360^\circ$ dual-fisheye camera mounted on different aerial vehicles.