High-Speed Motion Measurement and Crash Detection in Tracking Device for Floor Image
Isaku Nagai, Yutaka TANAKA · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2005
This paper describes visual tracking device progressed to measure faster motion of a camera perpendicularly directed to floor. In the device, motion prediction based on extrapolation of the velocity vector is employed and extends the maximum speed of motion from about 45mm/s to 200 mm/s with no increase of search time in the correlation process. Moreover crash detection is brought to this method as a side effect of motion prediction by detecting the change of differential correlation. The device consisted of a FPGA and two SRAMs can process image tracking at frame rate, so this device is useful for localization of mobile robots.