Robot vision system using high order correlation analysis

Object movement detection by high order correlation analysis of optical sensor array signals is introduced. The optical sensors observe the moving object surface which is assumed to be a non-uniform speckle-like texture. The measurement system is applicable to general robotic movement detection because: it employs a noncontact measurement method, the system can be made very compact, and it enables approximation of the movement trace with a sequence of arcs instead of the conventional connection of simple line segments. The authors looked into estimation of the running trace of an autonomous vehicle by observing the ground pattern.