Fecha de publicación: 15/09/2005 Fuente: Wipo "precision farming" Methods and apparatus for optical odometry are disclosed which allow for non-contact two-dimensional dead-reckoning navigation in applications including autonomous indoor robotics, vehicle tracking at secure facilities such as airports, and shopping cart tracking in supermarkets. Disclosed methods and apparatus also allow for non-contact velocity and position measurements facilitating applications such as anti-lock breaking and traction control on farm and construction equipment. In a preferred embodiment, an integrated optical navigation sensor such as is used in an optical computer mouse is used within the present invention in conjunction with a telecentrc lens.