A Focal Plane Visual Motion Measurement Sensor

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motion sensor
temporal domain optical flow
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Etienne-Cummings, Ralph
Mueller, Paul
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A motion detection algorithm, based on biological and computational models, for focal plane implementation has been developed. This Temporal Domain Optical Flow Measurement (TDOFM) algorithm uses computational components which have direct and compact electronic counterparts. It uses a binary image of zero-crossings, 2 level analog signals, the signs of spatiotemporal derivatives, 1-b multiplication and pulse widths to measure image velocity. Compared to other IC visual motion detectors, this sensor represents the first instance of a robust, wideband and general purpose 2-D motion sensor which reports speed and direction explicitly, has a wide dynamic range and has a compact IC implementation. The front-end of the motion cells is an edge detection circuit which responds to 5–6 orders of magnitude of light intensity and produces near maximum outputs for contrasts as low as 40% in bright and dim ambient conditions. The theoretical velocity measurement dynamic range of the sensor is 4–5 orders of magnitude, and motion ranging over three orders of magnitude has been measured. The variation in the measured speed is less than 15% across 1- and 2-D implementations, multiple chips, cells and directions. The complete system, including the photoreceptors and edge detection circuits, consumes less than 0.4 mW per cell at ± 3.5 V.

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1997
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Copyright 1997 IEEE. Reprinted from IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, Volume 44, Issue 1, January 1997, pages 55-66. Publisher URL: http://dx.doi.org/10.1109/81.558442 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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