Motion-vision architectures

A fast tracking algorithm is used to determine displacements of points (pixels) on object surfaces between frames, a sequence of image frames representing a time-varying scene. The displacement is represented by a four-dimension vector whose elements are two-dimensional translation, rotation, rotational angle on the x-y plane, and scaling factor (zoom parameter). The algorithm was developed in conjunction with research on sensors for machine vision with biological vision features. The proposed sensor has two configurations: a uniform rectangular grid and a nonuniform logarithmic spiral grid. The rectangular grid is very well suited to translational motion in 2-D, whereas the logarithmic spiral grid has been proven to be appropriate for rotation and scaling. The algorithm developed utilizes both configurations for estimating 3-D motion