A Compact System for Self-Motion Estimation

دانشگاه آزاد اسلامی اصفهان(خوراسگان)

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" A Compact System for Self-Motion Estimation "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	150127
Doc. No	:	ET21919
Main Entry	:	Ania Mitros
Title Proper	:	A Compact System for Self-Motion Estimation
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	Self-motion estimation is a vital problem for autonomous robots, frequently and appropriately ad-dressed by vision algorithms. Most approaches involve repeating some local calculation over theentire imaging array, such as detection of locally salient features. A simple and local calculation canbe efficiently implemented on the same chip as the photo-sensing array, thus parallelizing a hugecomputational task and vastly reducing the amount of data to transmit off chip. Mismatch betweendevices has previously been a stumbling block to producing truly useful arrays of local processingelements. Floating gate technology is used here as a compact means of programming away offsetsin subcircuits to remedy this problem. A custom analog chip performs the above functions. Foreach pixel, the chip outputs sensed light intensity, the values of the vertical and horizontal intensitygradients, and a binary value indicating whether a feature is centered on that pixel. These valuescan be used as inputs to a motion estimation algorithm implemented on a standard computer.,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL45113.pdf
Title and statement of responsibility and	:	A Compact System for Self-Motion Estimation [Thesis]