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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

Mean of the height estimate for three pairs of IR LEDs (see Equation (18)) while the position of the HyperCube sensor is fixed. Note that the height estimation is more accurate at 300 mm, since this was the height of calibration.
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f14-sensors-15-16484: Mean of the height estimate for three pairs of IR LEDs (see Equation (18)) while the position of the HyperCube sensor is fixed. Note that the height estimation is more accurate at 300 mm, since this was the height of calibration.

Mentions: As described in Section 4.2, the height between the HyperCube sensor and a pair of IR LEDs was estimated. Thanks to the angular measurements using three flickering IR LEDs, one can reduce the measurement noise. The height estimation precision is therefore increased. The mean of the height estimate Ẑ̅ is written as:(18)Z^¯=Z^LED1,2+Z^LED2,3+Z^LED1,33where ẐLED1,2, ẐLED2,3 and ẐLED1,3 are the height estimated by the pairs (1,2), (2,3) and (1,3), respectively. The height of the IR LEDS was modified, while the position of the HyperCube sensor was fixed in the XY plane. Using each pair of IR LEDs, the height estimation was computed on-line. From Figure 14, the height estimation as a solid line is precise around 300 mm with respect to the reference height as a dashed line.


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)

Mean of the height estimate for three pairs of IR LEDs (see Equation (18)) while the position of the HyperCube sensor is fixed. Note that the height estimation is more accurate at 300 mm, since this was the height of calibration.
© Copyright Policy
Related In: Results  -  Collection

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

f14-sensors-15-16484: Mean of the height estimate for three pairs of IR LEDs (see Equation (18)) while the position of the HyperCube sensor is fixed. Note that the height estimation is more accurate at 300 mm, since this was the height of calibration.
Mentions: As described in Section 4.2, the height between the HyperCube sensor and a pair of IR LEDs was estimated. Thanks to the angular measurements using three flickering IR LEDs, one can reduce the measurement noise. The height estimation precision is therefore increased. The mean of the height estimate Ẑ̅ is written as:(18)Z^¯=Z^LED1,2+Z^LED2,3+Z^LED1,33where ẐLED1,2, ẐLED2,3 and ẐLED1,3 are the height estimated by the pairs (1,2), (2,3) and (1,3), respectively. The height of the IR LEDS was modified, while the position of the HyperCube sensor was fixed in the XY plane. Using each pair of IR LEDs, the height estimation was computed on-line. From Figure 14, the height estimation as a solid line is precise around 300 mm with respect to the reference height as a dashed line.

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