Title :
A biomimetic VLSI sensor for visual tracking of small moving targets
Author :
Higgins, Charles M. ; Pant, Vivek
Author_Institution :
Dept. of Electr., Univ. of Arizona, Tucson, AZ, USA
Abstract :
Taking inspiration from the visual system of the fly, we describe and characterize a monolithic analog very large-scale integration sensor, which produces control signals appropriate for the guidance of an autonomous robot to visually track a small moving target. This sensor is specifically designed to allow such tracking even from a moving imaging platform which experiences complex background optical flow patterns. Based on relative visual motion of the target and background, the computational model implemented by this sensor emphasizes any small-field motion which is inconsistent with the wide-field background motion.
Keywords :
VLSI; analogue integrated circuits; biomimetics; image sensors; mobile robots; target tracking; autonomous robot; biomimetic VLSI sensor; computational model; control signals; fly visual system; monolithic analog very large-scale integration sensor; moving imaging platform; optical flow patterns; small moving targets; small-field motion; spatiotemporal frequency; target tracking; visual motion; visual tracking; wide-field background motion; Biomimetics; Biosensors; Control systems; Large scale integration; Optical sensors; Sensor phenomena and characterization; Sensor systems; Target tracking; Very large scale integration; Visual system; 65; Analog very large-scale integration; VLSI; biomimetic; spatiotemporal frequency; target tracking; visual motion;
Journal_Title :
Circuits and Systems I: Regular Papers, IEEE Transactions on
DOI :
10.1109/TCSI.2004.836856
