Title :
Hemispherical eye sensor in micro aerial vehicles using advanced pinhole imaging system
Author :
Tisse, Christel-Loic ; Durrant-Whyte, Hugh
Author_Institution :
ARC Centre of Excellence for Autonomous Syst., Sydney Univ., NSW, Australia
Abstract :
This paper addresses key issues regarding the feasibility of providing micro unmanned air vehicles (micro-UAVs) with a miniature hemispherical eye using the latest CMOS sensor technology. Key specifications of the visual system of such visually guided drones are low power consumption, adaptive resolution and sensitivity, packaging and manufacturing complexity, ultra-wide field-of-view (FOV), lightness and small overall size. We describe a compact pinhole imaging system that yields near hemispherical FOV, and we investigate its theoretical performance limits to ego- and visual acuity.
Keywords :
CMOS image sensors; aircraft; microsensors; motion estimation; remotely operated vehicles; CMOS sensor; adaptive resolution; adaptive sensitivity; advanced pinhole imaging system; ego-motion estimation; hemispherical eye sensor; hemispherical imaging; low power consumption; microaerial vehicles; unmanned air vehicles; CMOS image sensors; CMOS technology; Energy consumption; Image sensors; Intelligent vehicles; Manufacturing; Packaging; Sensor systems; Unmanned aerial vehicles; Visual system; 3D ego-motion; hemispherical imaging; micro-UA V vision; pinhole optics; visual microsensor;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545052
