Limits...
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

XLED and YLED are measured by an incremental encoder for each direction and are plotted as a function of Sφ and Sψ. Linear regressions used to determine aφ, aψ, bφ and bψ are also plotted. We note that the curves are linear on the range displayed.
© Copyright Policy
Related In: Results  -  Collection

License
getmorefigures.php?uid=PMC4541889&req=5

f11-sensors-15-16484: XLED and YLED are measured by an incremental encoder for each direction and are plotted as a function of Sφ and Sψ. Linear regressions used to determine aφ, aψ, bφ and bψ are also plotted. We note that the curves are linear on the range displayed.

Mentions: The calibration consists of adjusting the HyperCube outputs Sφ and Sψ to the ratios and . To this aim, the calibration curves shown in Figure 11 are plotted. We note that the HyperCube outputs are linear in the observed range [−50 mm; +50 mm]. Linear regression computes the slope (aφ, aψ) and the offset (bφ, bψ) by fitting each curve with a linear model. These coefficients calibrate the HyperCube outputs and , such that: and . Figure 11 presents the calibration results for each IR LED in both the X and Y directions. The sensor's outputs are linear in the range [−50 mm; +50 mm] with respect to the origin.


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)

XLED and YLED are measured by an incremental encoder for each direction and are plotted as a function of Sφ and Sψ. Linear regressions used to determine aφ, aψ, bφ and bψ are also plotted. We note that the curves are linear on the range displayed.
© Copyright Policy
Related In: Results  -  Collection

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

f11-sensors-15-16484: XLED and YLED are measured by an incremental encoder for each direction and are plotted as a function of Sφ and Sψ. Linear regressions used to determine aφ, aψ, bφ and bψ are also plotted. We note that the curves are linear on the range displayed.
Mentions: The calibration consists of adjusting the HyperCube outputs Sφ and Sψ to the ratios and . To this aim, the calibration curves shown in Figure 11 are plotted. We note that the HyperCube outputs are linear in the observed range [−50 mm; +50 mm]. Linear regression computes the slope (aφ, aψ) and the offset (bφ, bψ) by fitting each curve with a linear model. These coefficients calibrate the HyperCube outputs and , such that: and . Figure 11 presents the calibration results for each IR LED in both the X and Y directions. The sensor's outputs are linear in the range [−50 mm; +50 mm] with respect to the origin.

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