Abstract: A family of analog CMOS velocity sensors is described which measures the velocity of a moving edge by computing its time of travel between adjacent pixels. These sensors are compact, largely invariant to illumination over a wide range, sensitive to edges with very low contrast, and responsive to several orders of magnitude of velocity. Two successful 1D velocity sensors are described in detail; preliminary data on a new 2D velocity sensor is shown. Work in progress to extend these sensors to processing of 2D optical flow is outlined. !16
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