title: HyperCube: A Small Lensless Position Sensing Device for the Tracking of Flickering Infrared LEDs.
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.
authors.affiliation: Aix-Marseille Université, ISM UMR 7287, 13288, Marseille Cedex 09, France. thibaut.raharijaona@univ-amu.fr.
authors.forename: Thibaut
authors.initials: T
authors.lastname: Raharijaona
authors.affiliation: Aix-Marseille Université, ISM UMR 7287, 13288, Marseille Cedex 09, France. paul.mignon90@gmail.com.
authors.forename: Paul
authors.initials: P
authors.lastname: Mignon
authors.affiliation: Aix-Marseille Université, ISM UMR 7287, 13288, Marseille Cedex 09, France. rjuston@avenisense.com.
authors.forename: Raphaël
authors.initials: R
authors.lastname: Juston
authors.affiliation: Aix-Marseille Université, ISM UMR 7287, 13288, Marseille Cedex 09, France. lubinkerhuel@yahoo.fr.
authors.forename: Lubin
authors.initials: L
authors.lastname: Kerhuel
authors.affiliation: Aix-Marseille Université, ISM UMR 7287, 13288, Marseille Cedex 09, France. stephane.viollet@univ-amu.fr.
authors.forename: Stéphane
authors.initials: S
authors.lastname: Viollet
keywords: infrared sensing; mobile robots; motion tracking; photodetector; visual motion