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

Table 5

Distance calibration data using mobile object detection.

Distance (cm)	Mean distance (pixels)	𝜎 (pixels)
20	56.6	3.3
40	93.4	7.3
60	114.6	1.3
80	126.2	7.3
100	134.6	7.3
120	139.8	1.7
140	143.0	1.0
160	146.2	2.2
180	147.8	1.7
200	149.6	1.3
230	152.2	1.4