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

Table 9

Performance comparison.

Author	Year	Main algorithm	Image resolution	Frames per second	Megapixels per second
[10]	2009	Sum of absolute differences (SAD)	640×480	200	61.44
[13]	2012	Background subtraction	1024×1024	32	33.55
[9]	2006	Correlation	256×256	221	14.48
[12]	2011	Background subtraction	720×576	25	10.37
This work	2012	Background subtraction	800 × 480	26	9.98
[11]	2011	Edge enhancement	128×101	580	7.50
[8]	2008	Optical flow	640×480	15	4.61
[7]	2008	Optical flow	128×96	177	2.17
[15]	2007	Optical flow	160×120	30	0.58