A tiny lensless position sensing device for the tracking of active markers

Abstract : Active markers tracking is performed using an innovative insect-based visual sensor. Without any optics and a field-of-view of about 60°, our novel miniature visual sensor is able to locate flickering markers (LEDs) with accuracy much greater than the one dictated by the pixel pitch. With a size of only 1cm3 and a mass of only 0.33g, the lensless sensor, called HyperCube, is dedicated to 3D motion tracking and fits perfectly with the drastic constraints imposed by micro-aerial vehicles. This small cubic position sensing device is composed of only three photosensors placed on each side of the cube, making this sensor very cheap and light. HyperCube provides the azimuth and elevation of infrared LEDs flickering at high frequency (>1kHz) with a precision of only few degrees. The simplicity, small size, low mass, and low power consumption of this optical sensor make it suitable for many applications in the field of cooperative flight of unmanned aerial vehicles, swarm robotics 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 infrared markers.
Type de document :
Communication dans un congrès
REDUAS - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems-2013, Nov 2013, Compiègne, France. 2013


https://hal.inria.fr/hal-00910804
Contributeur : Thibaut Raharijaona <>
Soumis le : mercredi 4 décembre 2013 - 13:31:57
Dernière modification le : lundi 21 mars 2016 - 17:28:16

Fichier

hypercube_reduas2013.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00910804, version 2

Collections

Citation

Thibaut Raharijaona, Paul Mignon, Raphaël Juston, Stéphane Viollet. A tiny lensless position sensing device for the tracking of active markers. REDUAS - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems-2013, Nov 2013, Compiègne, France. 2013. <hal-00910804v2>

Partager

Métriques

Consultations de
la notice

216

Téléchargements du document

130