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

Charles M. Higgins, Christof Koch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

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 languageEnglish (US)
Title of host publicationAdvances in Neural Information Processing Systems 11 - Proceedings of the 1998 Conference, NIPS 1998
PublisherNeural information processing systems foundation
Pages699-705
Number of pages7
ISBN (Print)0262112450, 9780262112451
StatePublished - Jan 1 1999
Externally publishedYes
Event12th Annual Conference on Neural Information Processing Systems, NIPS 1998 - Denver, CO, United States
Duration: Nov 30 1998Dec 5 1998

Publication series

NameAdvances in Neural Information Processing Systems
ISSN (Print)1049-5258

Other

Other12th Annual Conference on Neural Information Processing Systems, NIPS 1998
CountryUnited States
CityDenver, CO
Period11/30/9812/5/98

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems
  • Signal Processing

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