This comprehensive new book deals with motion estimation for autonomous systems from a biological, algorithmic and digital perspective. An algorithm, which is based on the optical flow constraint equation, is described in detail. This algorithm fits with the motion processing model, hardware and software constraints and resolves depth-velocity ambiguity, which is critical for autonomous navigation. There is also extensive coverage on the use of this algorithm in digital hardware and describes both the initial motion processing model, the chosen hardware platforms, and the global function of the system.
Preface
List of Abbreviations
Symbols
Typographical Conventions
Acknowledgements
Chapter 1 : Introduction
Part 1 : Background
Chapter 2 : Mathematical Preliminaries
Chapter 3 : Motion Estimation
Part 2 : Algorithm Development
Chapter 4 : Real-time Motion Processing
Chapter 5 : Motion Estimation for Autonomous Navigation
Part 3 : Hardware
Chapter 6 : Digital Design
Chapter 7 : Sensor Implementation
Part 4 : Appendices
A : System Timing
B : SDRAM Timing
C : FPGA Design
D : Simulation of Range Data
Bibliography
Index
