An FPGA implementation of insect-inspired motion detector for high-speed vision systems

Tianguang Zhang, Haiyan Wu, Alexander Borst, Kolja Kühnlenz, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

In this paper, an array of biologically inspired elementary motion detectors (EMDs) is implemented on an FPGA (field programmable gate array) platform. The well-known Reichardt-type EMD, modeling the insect's visual signal processing system, is very sensitive to motion direction and has low computational cost. A modified structure of EMD is used to detect local optical flow. Six templates of receptive fields, according to the fly's vision system, are designed for simple ego-motion estimation. The results of several typical experiments demonstrate local detection of optical flow and simple motion estimation under specific backgrounds. The performance of the real-time implementation is sufficient to deal with a video frame rate of 350 fps at 256 times 256 pixels resolution. The execution of the motion detection algorithm and the resulting time delay is only 0.25 mus. This hardware is suited for obstacle detection, motion estimation and UAV/MAV attitude control.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics & Automation : 2008 ICRA
PublisherIEEE
Publication date2008
Pages335 - 340
ISBN (Print)9781424416462
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation - Pasadena, CA, United States
Duration: 19 May 200823 May 2008
http://icra2008.ieee-ras.org/

Conference

Conference2008 IEEE International Conference on Robotics and Automation
Country/TerritoryUnited States
CityPasadena, CA
Period19/05/200823/05/2008
Internet address

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