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Odometry for ground moving agents by optic flow recorded with optical mouse chips.

Hansjürgen Dahmen1, Hanspeter A Mallot2

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Summary

Optical mouse sensors offer a low-cost solution for motion detection. This study demonstrates a device using eight sensors to precisely estimate self-motion parameters from optic flow, even in challenging environments.

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Area of Science:

  • Robotics
  • Computer Vision
  • Sensor Technology

Background:

  • Optical mouse sensors are cost-effective and precise motion detectors.
  • Optic flow generated by self-motion can be analyzed to estimate movement parameters.
  • Existing methods may be limited by cost, size, or complexity.

Purpose of the Study:

  • To develop and evaluate a novel device for self-motion estimation using optical mouse sensors.
  • To extract motion parameters solely from optic flow data.
  • To assess the precision and calibration of the proposed sensor system.

Main Methods:

  • Utilizing eight optical mouse sensors arranged in four opposing pairs on a sensor head.
  • Mounting the sensor head on a carriage for controlled movement over a textured planar surface.
  • Employing a -45° downward-looking elevation for each sensor to capture optic flow.
  • Implementing a calibration procedure to ensure accurate motion parameter extraction.

Main Results:

  • The developed device successfully extracts self-motion parameters using optic flow from the mouse sensors.
  • The system demonstrates precision in estimating motion parameters.
  • Calibration procedures were established and tested for the sensor array.

Conclusions:

  • Optical mouse sensors provide a viable and economical platform for precise self-motion sensing.
  • The proposed device offers a robust method for motion parameter estimation based on optic flow.
  • This technology has potential applications in robotics and autonomous systems requiring low-cost navigation.