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

Table 2

Validation points.

Section	Actual distance (cm)	Estimated distance (cm)	Actual direction (^o)	Estimated direction (^o)
I	20.5	19.6	7.6	7.2
I	11.3	12.1	69.5	68.4
I	17.0	18.0	66.2	67.4
I	21.7	23.3	71.4	72.7
I	28.4	29.4	65.8	65.0
II	28.4	25.8	10.8	11.5
II	27.4	25.2	22.8	23.6
II	27.0	25.7	50.9	53.6
II	30.6	29.6	50.2	50.9
II	26.2	24.8	30.5	31.8
III	17.9	18.0	8.8	7.9
III	28.4	31.8	10.8	9.8
III	29.7	31.9	20.9	19.4
III	34.5	35.9	37.3	35.7
III	43.3	41.5	51.1	48.9
IV	15.5	16.1	10.3	10.2
IV	23.4	24.4	13.2	13.6
IV	29.6	30.3	32.3	32.8
IV	35.9	36.0	46.5	46.6
IV	43.3	43.7	51.1	51.8