Visual tracking device measuring 2-D motion of floor image

Isaku Nagai, Yutaka Tanaka

Research output: Contribution to journalArticlepeer-review


In order to estimate the motion of floor image, a visual device has been developed that can track images from a monocrome CCD camera directed to flat floor. This device provides positional information for mobile robots to be navigated. We describe a new structure and updating method of template image in correlation processing to track floor images which have a natural texture. Based on this method, electronic circuits in a CPLD has been manufactured which process the image tracking at video rate. The results of experiments on the floor at indoor room and on the outdoor road show that this device can measure the 2-D motion of floor image from camera. The size of this device is so compact that it can be mounted to small mobile robots as the positioning sensor.

Original languageEnglish
Pages (from-to)2346-2353
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number8
Publication statusPublished - Aug 2002


  • Electronic Circuits
  • Floor Image
  • Mechatronics and Robotics
  • Optical Flow
  • Real-Time Vision
  • Sensor
  • Visual Dead-Reckoning

ASJC Scopus subject areas

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


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