Fig. 1. Basic principle of SFV.

Fig. 2. Principle of frequency shifting based on a linear CMOS image sensor.

Fig. 3. Schematic diagram of the SFV.

Fig. 4. Experimental results of direction discrimination and low-speed measurement.

Fig. 5. Comparison of velocity calculations (a) without frequency spectrum correction and (b) with frequency spectrum correction.

Fig. 6. Relative error of 1 deg/s measurements.