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HyperCube: A Small Lensless Position Sensing Device for the Tracking of Flickering Infrared LEDs.

Raharijaona T, Mignon P, Juston R, Kerhuel L, Viollet S - Sensors (Basel) (2015)

Bottom Line: Without any optics and a field-of-view of about 60°, a novel miniature visual sensor is able to locate flickering markers (LEDs) with an accuracy much greater than the one dictated by the pixel pitch.The minimalistic design in terms of small size, low mass and low power consumption of this visual sensor makes it suitable for many applications in the field of the cooperative flight of unmanned aerial vehicles and, more generally, robotic applications requiring active beacons.Experimental results show that HyperCube provides useful angular measurements that can be used to estimate the relative position between the sensor and the flickering infrared markers.

View Article: PubMed Central - PubMed

Affiliation: Aix-Marseille Université, ISM UMR 7287, 13288, Marseille Cedex 09, France. thibaut.raharijaona@univ-amu.fr.

ABSTRACT
An innovative insect-based visual sensor is designed to perform active marker tracking. Without any optics and a field-of-view of about 60°, a novel miniature visual sensor is able to locate flickering markers (LEDs) with an accuracy much greater than the one dictated by the pixel pitch. With a size of only 1 cm3 and a mass of only 0.33 g, the lensless sensor, called HyperCube, is dedicated to 3D motion tracking and fits perfectly with the drastic constraints imposed by micro-aerial vehicles. Only three photosensors are placed on each side of the cubic configuration of the sensing device, making this sensor very inexpensive and light. HyperCube provides the azimuth and elevation of infrared LEDs flickering at a high frequency (>1 kHz) with a precision of 0.5°. The minimalistic design in terms of small size, low mass and low power consumption of this visual sensor makes it suitable for many applications in the field of the cooperative flight of unmanned aerial vehicles and, more generally, robotic applications requiring active beacons. Experimental results show that HyperCube provides useful angular measurements that can be used to estimate the relative position between the sensor and the flickering infrared markers.

No MeSH data available.


Related in: MedlinePlus

XY table driven by DC motors. The HyperCube position is controlled in closed-loop by means of two incremental encoders. The distance ZLED was assumed here to be known and constant. Additional active motion markers were used to compare the precision of HyperCube with the ground truth acquired from the VICON motion capture system.
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f10-sensors-15-16484: XY table driven by DC motors. The HyperCube position is controlled in closed-loop by means of two incremental encoders. The distance ZLED was assumed here to be known and constant. Additional active motion markers were used to compare the precision of HyperCube with the ground truth acquired from the VICON motion capture system.

Mentions: In this work, we aimed at demonstrating that the estimation of the relative position of an IR LED with respect to HyperCube can be achieved by means of angular measurements. The experimental setup is composed of a motor-driven XY table, as shown in Figure 10. We oriented HyperCube so that it was pointing upward. HyperCube can move along the X and Y directions thanks to two DC motors.


HyperCube: A Small Lensless Position Sensing Device for the Tracking of Flickering Infrared LEDs.

Raharijaona T, Mignon P, Juston R, Kerhuel L, Viollet S - Sensors (Basel) (2015)

XY table driven by DC motors. The HyperCube position is controlled in closed-loop by means of two incremental encoders. The distance ZLED was assumed here to be known and constant. Additional active motion markers were used to compare the precision of HyperCube with the ground truth acquired from the VICON motion capture system.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4541889&req=5

f10-sensors-15-16484: XY table driven by DC motors. The HyperCube position is controlled in closed-loop by means of two incremental encoders. The distance ZLED was assumed here to be known and constant. Additional active motion markers were used to compare the precision of HyperCube with the ground truth acquired from the VICON motion capture system.
Mentions: In this work, we aimed at demonstrating that the estimation of the relative position of an IR LED with respect to HyperCube can be achieved by means of angular measurements. The experimental setup is composed of a motor-driven XY table, as shown in Figure 10. We oriented HyperCube so that it was pointing upward. HyperCube can move along the X and Y directions thanks to two DC motors.

Bottom Line: Without any optics and a field-of-view of about 60°, a novel miniature visual sensor is able to locate flickering markers (LEDs) with an accuracy much greater than the one dictated by the pixel pitch.The minimalistic design in terms of small size, low mass and low power consumption of this visual sensor makes it suitable for many applications in the field of the cooperative flight of unmanned aerial vehicles and, more generally, robotic applications requiring active beacons.Experimental results show that HyperCube provides useful angular measurements that can be used to estimate the relative position between the sensor and the flickering infrared markers.

View Article: PubMed Central - PubMed

Affiliation: Aix-Marseille Université, ISM UMR 7287, 13288, Marseille Cedex 09, France. thibaut.raharijaona@univ-amu.fr.

ABSTRACT
An innovative insect-based visual sensor is designed to perform active marker tracking. Without any optics and a field-of-view of about 60°, a novel miniature visual sensor is able to locate flickering markers (LEDs) with an accuracy much greater than the one dictated by the pixel pitch. With a size of only 1 cm3 and a mass of only 0.33 g, the lensless sensor, called HyperCube, is dedicated to 3D motion tracking and fits perfectly with the drastic constraints imposed by micro-aerial vehicles. Only three photosensors are placed on each side of the cubic configuration of the sensing device, making this sensor very inexpensive and light. HyperCube provides the azimuth and elevation of infrared LEDs flickering at a high frequency (>1 kHz) with a precision of 0.5°. The minimalistic design in terms of small size, low mass and low power consumption of this visual sensor makes it suitable for many applications in the field of the cooperative flight of unmanned aerial vehicles and, more generally, robotic applications requiring active beacons. Experimental results show that HyperCube provides useful angular measurements that can be used to estimate the relative position between the sensor and the flickering infrared markers.

No MeSH data available.


Related in: MedlinePlus