A mixed analog–digital vision sensor for detecting objects approaching on a collision course

Bio-inspired vision system is a particularly good candidate for navigation of mobile robots and vehicles because of its computational advantages, e.g., low power dissipation and compact hardware. Previously, we had designed a mixed analog–digital integrated vision system for collision detection inspired by a locust neuronal circuit model. The response of the system was, however, susceptible to the luminance of approaching objects and the vibratory self-motion of a car when it was installed on a miniature mobile car. In the present study, we developed a new collision detection algorithm to overcome these problems based on robust image-motion detection and applied the algorithm to control a miniature mobile car.