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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.
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