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Sensors, Vol. 14, Pages 21045-21064: Odometry for Ground Moving Agents by Optic Flow Recorded with Optical Mouse Chips (2014)

Hansjürgen Dahmen; Hanspeter Mallot

MDPI Publishing

In: Sensors

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Publication Date: 2014-11-07

Description: Optical mouse chips—equipped with adequate lenses—can serve as small, light, precise, fast, and cheap motion sensors monitoring optic flow induced by self motion of an agent in a contrasted environment. We present a device that extracts self motion parameters exclusively from flow in eight mouse sensors. Four pairs of sensors with opposite azimuth are mounted on a sensor head, each individual sensor looking down with \(-\)45\(^{\circ}\) elevation. The head is mounted on a carriage and is moved at constant height above a textured planar ground. The calibration procedure and tests on the precision of self motion estimates are reported.

Electronic ISSN: 1424-8220

Topics: Chemistry and Pharmacology , Electrical Engineering, Measurement and Control Technology

Published by MDPI Publishing

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