Aiming at problem that the jitter of visual sensor causes the captured image to be blurred

existing blur length and blur direction parameter identification methods is studied. According to correlation of moving blur images background pixels point

the Sobel operator is used to perform the first-order differentiation of blur images

and autocorrelation operation is carried out

two boundary values of each column of the correlation curve is summed

the distance between two equal minimum values in the summing curve is equal to the motion blur length.Blurred image is transformed to spectrum through the Fourier transform

binarize the stripes of the spectrum and then use least squares fitting to obtain the slope of fitted straight line

realize measurement of motion direction.According to the obtained point spread function（ PSF）

recover motion blurred image by Lucy-Richardson iterative algorithm. Compared to traditional methods

the experimental results show that the proposed method has high precision for determination of blur length and blur angle and has good effects on the restoration of visual sensor motion caused blur image.