The invention is related to methods and apparatus that detect motion by
monitoring images from a video camera mounted on a mobile robot, such as
an autonomously navigated mobile robot. Examples of such robots include
automated vacuum floor sweepers. Advantageously, embodiments of the
invention can automatically sense a robot's motional state in a
relatively reliable and cost-efficient manner. Many configurations of
robots are configured to include at least one video camera. Embodiments
of the invention permit the use of a video camera onboard a robot to
determine a motional state for the robot. This can advantageously permit
the motional state of a robot to be determined at a fraction of the cost
of additional sensors, such as a laser, an infrared, an ultrasonic, or a
contact sensor.