Research Article
An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots
Table 4
Latency of the motion detection architecture.
| Implemented core | Latency |
| Background | 2 clk | Subtraction | | Segmentation | 1 clk | Erostion | 1603 clk | Center of mass | 384.001 (1 frame) |
| Entire architecture | 385.607 |
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