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Thibaut Raharijaona1, Rodolphe Mawonou2, Thanh Vu Nguyen3

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Summary
This summary is machine-generated.

This study presents a compact optical sensor for indoor robot localization. The insect-inspired device accurately estimates relative positions using infrared light, enabling navigation in GPS-denied areas.

Keywords:
LEDindoor positioninginfrared light communicationphotodiode (PD)visual motion

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Area of Science:

  • Robotics
  • Optical Sensing
  • Indoor Localization

Background:

  • Accurate indoor localization is crucial for mobile robotic applications.
  • Existing methods often face limitations in size, power consumption, or computational requirements.
  • Previous lensless visual sensors were limited to proximal localization (<30 cm).

Purpose of the Study:

  • To develop a minimalistic optical sensing device for indoor localization.
  • To estimate the relative position between a sensor and active markers.
  • To enable robotic applications in GPS-denied environments.

Main Methods:

  • Utilized an insect-inspired, minimalistic optical sensor (10 cm³, 6 g, 0.4 W).
  • Employed amplitude-modulated infrared light from two differently flickering active infrared light emitting diodes (LEDs).
  • Developed an Arduino-compatible demodulator for efficient analog signal processing.

Main Results:

  • The sensor accurately estimated positions up to 2 meters.
  • Achieved an accuracy of 2 cm at a sampling frequency of 100 Hz.
  • Demonstrated suitability for mobile robotic applications.

Conclusions:

  • The proposed minimalistic optical sensor offers a viable solution for indoor localization.
  • Its compact size, low power, and high accuracy are beneficial for robotic systems.
  • The sensor is well-suited for position feedback loops in GPS-denied environments.