FPGA Implementation of an Optic Flow Sensor using the Image Interpolation Algorithm

摘要

A small embedded vision sensor has been developed using Field Programmable Gate Arrays (FPGA) technology. The sensor computes optic flow using a streaming version of the image interpolation algorithm to provide flow vectors at 36 equally spaced locations in a 1024×768 pixel image. The sensor has been tested in flight on an unmanned helicopter and benchmarked against GPS measurements of velocity. A small form factor (70 mm×55 mm) and low-weight for the sensor makes it ideal for implementation on a small flight vehicle.