Pulse-based 2-D motion sensors

Charles M. Higgins, Rainer A. Deutschmann, Christof Koch

Research output: Contribution to journalArticlepeer-review

43 Scopus citations


We present two compact CMOS integrated circuits for computing the two-dimensional (2-D) local direction of motion of an image focused directly onto the chip. These circuits incorporate onboard photoreceptors and focal plane motion processing. With fully functional 14 x 13 and 12 x 13 implementations consuming less than 50 -iW per pixel, we conclude that practical pixel resolutions of at least 64 x 64 are easily achievable. Measurements characterizing the elementary one-dimensional motion detectors are presented along with a discussion of 2-D performance and example 2-D motion vector fields. As an example application of the sensor, it is shown that the array as fabricated can directly compute the focus of expansion of a 2-D motion vector field.

Original languageEnglish (US)
Pages (from-to)677-687
Number of pages11
JournalIEEE Transactions on Circuits and Systems II: Analog and Digital Signal Processing
Issue number6
StatePublished - 1999


  • Analog vlsi
  • Cmos imager
  • Focus of expansion
  • Motion sensor
  • Vision chip

ASJC Scopus subject areas

  • Signal Processing
  • Electrical and Electronic Engineering


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