Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Uniform Depth Channel Flow: Problem Solving01:18

Uniform Depth Channel Flow: Problem Solving

693
To calculate the flow rate for a trapezoidal channel, first, identify the bottom width, side slope, and flow depth of the channel. The cross-sectional area (A) corresponding to the depth of flow (y), channel bottom width (B), and side slope (θ) is determined by:Next, calculate the wetted perimeter, which includes the bottom width and the sloped side lengths in contact with the water. Using the values of the cross-sectional area and the wetted perimeter, determine the hydraulic radius by...
693

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Micromotion compensation of trapped ions by qubit transition and direct scanning of dc voltages.

Optics express·2023
Same author

Development and evaluation of haltere-mimicking gyroscope for three-axis angular velocity sensing using a haltere-mimicking structure pair.

Bioinspiration & biomimetics·2022
Same author

A New Measurement Method for High Voltages Applied to an Ion Trap Generated by an RF Resonator.

Sensors (Basel, Switzerland)·2021
Same author

Observation of Hong-Ou-Mandel interference with scalable Yb<sup>+</sup>-photon interfaces.

Optics express·2020
Same author

Nanowire-Based Biosensors: From Growth to Applications.

Micromachines·2018
Same author

Characterization of the Piezoresistive Effects of Silicon Nanowires.

Sensors (Basel, Switzerland)·2018

Related Experiment Video

Updated: Apr 12, 2026

Bringing the Visible Universe into Focus with Robo-AO
10:35

Bringing the Visible Universe into Focus with Robo-AO

Published on: February 12, 2013

20.3K

Afocal optical flow sensor for reducing vertical height sensitivity in indoor robot localization and navigation.

Dong-Hoon Yi1, Tae-Jae Lee2, Dong-Il Dan Cho3,4

  • 1Department of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul 151-742, Korea. ydh01@snu.ac.kr.

Sensors (Basel, Switzerland)
|May 19, 2015
PubMed
Summary

A new afocal optical flow sensor (OFS) system significantly reduces odometry errors in mobile robots navigating uneven indoor surfaces. This innovation minimizes systematic errors caused by height variations, improving robotic navigation accuracy.

Keywords:
dead reckoningindoor robot localizationnavigationoptical flow sensor

More Related Videos

Automated 3D Optical Coherence Tomography to Elucidate Biofilm Morphogenesis Over Large Spatial Scales
09:56

Automated 3D Optical Coherence Tomography to Elucidate Biofilm Morphogenesis Over Large Spatial Scales

Published on: August 21, 2019

7.5K
Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery
05:12

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery

Published on: August 12, 2021

2.6K

Related Experiment Videos

Last Updated: Apr 12, 2026

Bringing the Visible Universe into Focus with Robo-AO
10:35

Bringing the Visible Universe into Focus with Robo-AO

Published on: February 12, 2013

20.3K
Automated 3D Optical Coherence Tomography to Elucidate Biofilm Morphogenesis Over Large Spatial Scales
09:56

Automated 3D Optical Coherence Tomography to Elucidate Biofilm Morphogenesis Over Large Spatial Scales

Published on: August 21, 2019

7.5K
Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery
05:12

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery

Published on: August 12, 2021

2.6K

Area of Science:

  • Robotics
  • Optical Sensing
  • Navigation Systems

Background:

  • Mobile robot odometry is crucial for indoor navigation.
  • Wheel slippage and vertical height variance introduce significant systematic errors in distance estimation.
  • Conventional fixed-focal-length optical flow sensors (OFS) are susceptible to these errors.

Purpose of the Study:

  • To introduce a novel afocal optical flow sensor (OFS) system for enhanced odometry estimation in mobile robots.
  • To mitigate systematic errors caused by vertical height variance on uneven surfaces.
  • To evaluate the performance of the afocal OFS compared to conventional OFS modules.

Main Methods:

  • An afocal (infinite effective focal length) optical system was designed and implemented for the OFS.
  • Experiments were conducted using a linear guide on various surfaces with controlled sensor height variations (30-50 mm).
  • The afocal OFS module was integrated into a mobile robot for real-world navigation tests.

Main Results:

  • The proposed afocal OFS module demonstrated a significantly lower systematic error (0.1% per 1 mm height change) compared to conventional OFS (14.7%).
  • On a mobile robot, the afocal OFS achieved an average distance estimation error of 0.02% with a 17.6% standard deviation.
  • Conventional OFS modules on the same robot showed a higher average error of 4.09% and a 25.7% standard deviation.

Conclusions:

  • The afocal OFS system effectively reduces systematic errors in mobile robot odometry, particularly on uneven terrain.
  • This novel approach offers superior accuracy and reliability for indoor robotic navigation compared to traditional methods.
  • The afocal OFS technology presents a promising solution for improving the precision of mobile robots in diverse environments.