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.
Highlights
Micro-aerial vehicles (MAVs) have required the development of very light-weight and miniature sensing devices
Censi et al [8] present an approach to low-latency pose tracking using an event-based camera in [9] with active light-emitting diodes (LEDs) markers, which are infrared (IR) LEDs blinking at a high frequency (>1 kHz)
We present a novel miniature optical sensor without any optics, called HyperCube, endowed with hyperacuity [15] for active IR LED marker tracking applications
Summary
Micro-aerial vehicles (MAVs) have required the development of very light-weight and miniature sensing devices. Censi et al [8] present an approach to low-latency pose tracking using an event-based camera in [9] with active LED markers, which are infrared (IR) LEDs blinking at a high frequency (>1 kHz). The advantage of this camera is that it can track frequencies up to several kilohertz. We present a novel miniature optical sensor without any optics, called HyperCube, endowed with hyperacuity [15] for active IR LED marker tracking applications.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
