Pulse-based 2-D motion sensors

We present two compact CMOS integrated circuits for computing the two-dimen sional (2-D) local direction of motion of an image focused directly onto th e chip. These circuits incorporate onboard photoreceptors and focal plane m otion processing. With fully functional 14 x 13 and 12 x 13 implementations consuming less than 50 mu W per pixel, we conclude that practical pixel re solutions of at least 64 x 64 are easily achievable. Measurements character izing the elementary one-dimensional motion detectors are presented along w ith a discussion of 2-D performance and example 2-D motion vector fields, A s an example application of the sensor, it is shown that the array as fabri cated can directly compute the focus of expansion of a 2-D motion vector fi eld.