Visual Tracking Device Measuring 2-D Motion and Rotation of Floor Image
Isaku Nagai, Yutaka TANAKA · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2004
In order to estimate the motion of a flat floor, a visual device has been developed that can track images from a monocrome CCD camera. This device provides position and direction for mobile robots to be navigated. We describe a new architecture of reference pixel in correlation processing to track floor images which have a natural texture. Based on proposed method, electronic circuits in CPLD has been manufactured which process image tracking at video rate. The results of experiment show that this device can measure the 2-D motion and rotation of floor image at both indoor and outdoor. The size of this device is so compact that it can be applied to small mobile robots as positioning sensor.