An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots

Table 7

Validation results (using the moving object detection technique) distance is given in cm.

Real distance	Estimated distance and error
	𝐴	𝑒𝐴	𝐵	𝑒𝐵	𝐶	𝑒𝐶
𝑝1=70	70	0%	80	14%	83	19%
𝑝2=74	70	5%	—	—	83	12%
𝑝3=115	—	—	—	—	107	7%
𝑝4=137	—	—	132	4%	132	4%
𝑝5=170	—	—	170	0%	170	0%
𝑝6=200	200	0%	248	24%	235	17%