Visual tracking device measuring 2-D motion and rotation of floor image

Isaku Nagai, Yutaka Tanaka

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1037-1044
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number4
Publication statusPublished - Apr 2004


  • Floor Image
  • Image Processing
  • Image Tracking
  • Measurement
  • Mobile Robot
  • Motion Estimation
  • Real-Time Vision

ASJC Scopus subject areas

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


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