Development of a Vehicle Body Velocity Sensor using Modulated Motion Blur

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In this paper, we introduce a new sensor system to measure the vehicle body velocity using a CMOS camera and it's motion blur. When the camera faced on the ground and mounted on the vehicle body is shaken by a specific path to artificially form a motion blur, a Modulated Motion Blur is recorded on the image sensor. This Modulated Motion Blur implies the relative motion between the camera and the ground. The relative velocity of the vehicle and the ground can be estimated by measuring the slopes of the motion blur. In this paper, the invariance of the proposed system against the rolling shutter effect is demonstrated. Then, the performance of the proposed method through various experiments is presented. The proposed method has a small amount of calculation and high accuracy. Therefore, in addition to the dynamic control of the ground vehicle, it can be applied to various fields such as precise position estimation and autonomous driving of a field robot.
Publisher
Institute of Electrical and Electronics Engineers Inc.
Issue Date
2017-07
Language
English
Citation

IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, pp.406 - 411

ISSN
2159-6255
DOI
10.1109/AIM.2017.8014051
URI
http://hdl.handle.net/10203/311626
Appears in Collection
ME-Conference Papers(학술회의논문)
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