An embedded vision system based on an analog VLSI vision sensor [robot vision applications]

We present a novel programmable miniature vision module. The module combines an analog VLSI (aVLSI) vision sensor with a digital post-processor (MPC555). The aVLSI sensor provides gray-scale image data as well as smooth optical flow estimates. The particular computational architecture (analog and parallel) of the sensor allows efficient real-time estimation of the smooth optical flow field. The MPC555 controls the sensor read-out and, furthermore, allows for additional higher level processing of the image and optical flow data. It also provides the necessary standard interface such that the module can be easily programmed and integrated into different robotic platforms. The vision module seems particularly suited for educational projects in robotic sciences.