Odometry for ground moving agents by optic flow recorded with optical mouse chips.
Optical mouse chips-equipped with adequate lenses-can serve as small, light, precise, fast, and cheap motion sensors monitoring optic flow induced by self motion of an agent in a contrasted environment. We present a device that extracts self motion parameters exclusively from flow in eight mouse sensors. Four pairs of sensors with opposite azimuth are mounted on a sensor head, each individual sensor looking down with -45° elevation. The head is mounted on a carriage and is moved at constant height above a textured planar ground. The calibration procedure and tests on the precision of self motion estimates are reported.
Cognitive Neuroscience, University of Tübingen, Auf der Morgenstelle 28, Tübingen 72076, Germany. hansjuergen.dahmen@uni-tuebingen.de.
Hansjürgen
H
Dahmen
Cognitive Neuroscience, University of Tübingen, Auf der Morgenstelle 28, Tübingen 72076, Germany. hanspeter.mallot@uni-tuebingen.de.
Hanspeter A
HA
Mallot
D056044:Actigraphy / Q000295:instrumentation*; D000818:Animals; D016287:Computer Peripherals; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005426:Flight, Animal / Q000502:physiology*; D006430:Hemiptera / Q000033:anatomy & histology / Q000502:physiology*; D009038:Motion; D009043:Motor Activity / Q000502:physiology*; D057849:Optic Flow; D010781:Photography / Q000295:instrumentation*; D012815:Signal Processing, Computer-Assisted / Q000295:instrumentation; D014741:Video Recording / Q000295:instrumentation