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Consequently, robots must often rely on interpolation and extrapolation of the vision data to accomplish tasks in a timely and effective manner. One of the primary reasons for these delays is the analog-to-digital conversion that occurs on a per-pixel basis across the image sensor, along with the transfer of pixel-intensity information to the host device. This results in significant delays and power consumption in modern visual processing pipelines. The SCAMP-5\u2014a general-purpose Focal-plane Sensor-processor array (FPSP)\u2014used in this research performs computations in the analog domain prior to analog-to-digital conversion. By extracting features from the image on the focal plane, the amount of data that needs to be digitised and transferred is reduced. This allows for a high frame rate and low energy consumption for the SCAMP-5. The focus of our work is on localising the camera within the scene, which is crucial for scene understanding and for any downstream robotics tasks. We present a localisation system that utilise the FPSP in two parts. First, a 6-DoF odometry system is introduced, which efficiently estimates its position against a known marker at over 400 FPS. Second, our work is extended to implement BIT-VO\u20146-DoF visual odometry system which operates under an unknown natural environment at 300 FPS.\n<\/jats:p>","DOI":"10.1007\/s10514-023-10122-8","type":"journal-article","created":{"date-parts":[[2023,7,22]],"date-time":"2023-07-22T07:01:26Z","timestamp":1690009286000},"page":"1579-1592","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["High-frame rate homography and visual odometry by tracking binary features from the focal plane"],"prefix":"10.1007","volume":"47","author":[{"given":"Riku","family":"Murai","sequence":"first","affiliation":[]},{"given":"Sajad","family":"Saeedi","sequence":"additional","affiliation":[]},{"given":"Paul H. 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