### Abstract

A robust, integrative algorithm is presented for computing the position of the focus of expansion or axis of rotation (the singular point) in optical flow fields such as those generated by self-motion. Measurements are shown of a fully parallel CMOS analog VLSI motion sensor array which computes the direction of local motion (sign of optical flow) at each pixel and can directly implement this algorithm. The flow field singular point is computed in real time with a power consumption of less than 2 mW. Computation of the singular point for more general flow fields requires measures of field expansion and rotation, which it is shown can also be computed in real-time hardware, again using only the sign of the optical flow field. These measures, along with the location of the singular point, provide robust real-time self-motion information for the visual guidance of a moving platform such as a robot.

Original language | English (US) |
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Title of host publication | Advances in Neural Information Processing Systems |

Publisher | Neural information processing systems foundation |

Pages | 699-705 |

Number of pages | 7 |

ISBN (Print) | 0262112450, 9780262112451 |

State | Published - 1999 |

Externally published | Yes |

Event | 12th Annual Conference on Neural Information Processing Systems, NIPS 1998 - Denver, CO, United States Duration: Nov 30 1998 → Dec 5 1998 |

### Other

Other | 12th Annual Conference on Neural Information Processing Systems, NIPS 1998 |
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Country | United States |

City | Denver, CO |

Period | 11/30/98 → 12/5/98 |

### Fingerprint

### ASJC Scopus subject areas

- Computer Networks and Communications
- Information Systems
- Signal Processing

### Cite this

*Advances in Neural Information Processing Systems*(pp. 699-705). Neural information processing systems foundation.

**An integrated vision sensor for the computation of optical flow singular points.** / Higgins, Charles M; Koch, Christof.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Advances in Neural Information Processing Systems.*Neural information processing systems foundation, pp. 699-705, 12th Annual Conference on Neural Information Processing Systems, NIPS 1998, Denver, CO, United States, 11/30/98.

}

TY - GEN

T1 - An integrated vision sensor for the computation of optical flow singular points

AU - Higgins, Charles M

AU - Koch, Christof

PY - 1999

Y1 - 1999

N2 - A robust, integrative algorithm is presented for computing the position of the focus of expansion or axis of rotation (the singular point) in optical flow fields such as those generated by self-motion. Measurements are shown of a fully parallel CMOS analog VLSI motion sensor array which computes the direction of local motion (sign of optical flow) at each pixel and can directly implement this algorithm. The flow field singular point is computed in real time with a power consumption of less than 2 mW. Computation of the singular point for more general flow fields requires measures of field expansion and rotation, which it is shown can also be computed in real-time hardware, again using only the sign of the optical flow field. These measures, along with the location of the singular point, provide robust real-time self-motion information for the visual guidance of a moving platform such as a robot.

AB - A robust, integrative algorithm is presented for computing the position of the focus of expansion or axis of rotation (the singular point) in optical flow fields such as those generated by self-motion. Measurements are shown of a fully parallel CMOS analog VLSI motion sensor array which computes the direction of local motion (sign of optical flow) at each pixel and can directly implement this algorithm. The flow field singular point is computed in real time with a power consumption of less than 2 mW. Computation of the singular point for more general flow fields requires measures of field expansion and rotation, which it is shown can also be computed in real-time hardware, again using only the sign of the optical flow field. These measures, along with the location of the singular point, provide robust real-time self-motion information for the visual guidance of a moving platform such as a robot.

UR - http://www.scopus.com/inward/record.url?scp=0342268481&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0342268481&partnerID=8YFLogxK

M3 - Conference contribution

SN - 0262112450

SN - 9780262112451

SP - 699

EP - 705

BT - Advances in Neural Information Processing Systems

PB - Neural information processing systems foundation

ER -