Subpixel motion computing architecture

A pipelined optical-flow processing system that works as a virtual motion sensor has been described. It is based on a field programmable gate array (FPGA) device enabling the easy change of configuring parameters to adapt the sensor to different speeds, light conditions and other environmental factors. It is referred to as a `virtual sensor´ because it consists of a conventional camera as front-end supported by an FPGA processing device, which embeds the frame grabber, optical-flow algorithm implementation, output module and some configuration and storage circuitry. This is the first fully stand-alone working optical-flow processing system to include both accuracy and speed of measurement of the platform performance. The customisability of the system for different hardware resources and platforms has also been discussed, showing the resources and performance for a stand-alone board and a PCI co-processing board