High-speed motion measurement and crash detection in tracking device for floor image

Isaku Nagai, Yutaka Tanaka

Research output: Contribution to journalReview articlepeer-review

1 Citation (Scopus)


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 45 mm/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.

Original languageEnglish
Pages (from-to)3159-3166
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number11
Publication statusPublished - Nov 2005


  • Floor Image
  • Frame Rate Vision
  • Image Processing
  • Measurement
  • Mobile Robot
  • Motion Prediction

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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