The Robotics Institute

Carnegie Mellon Robotics Institute

We describe a compound eye vision sensor for 3D ego motion computation. Inspired by eyes of insects, we show that the compound eye sampling geometry is optimal for 3D camera motion estimation. This optimality allows us to estimate the 3D camera motion in a scene-independent and robust manner by utilizing linear equations. The mathematical model of the new sensor can be implemented in analog networks resulting in a compact computational sensor for instantaneous 3D ego motion measurements in full six degrees of freedom.

Keywords

analog VLSI; 3D motion sensor; parallel imaging

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): Computational Sensor Laboratory

Note: submitted

Text Reference

Jan Neumann, Cornelia Fermuller, Yiannis Aloimonos, and Vladimir Brajovic, "Compound Eye Sensor for 3D Ego Motion Estimation," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), April, 2004.

BibTeX Reference

@inproceedings{Brajovic_2004_4546,
   author = "Jan Neumann and Cornelia Fermuller and Yiannis Aloimonos and Vladimir Brajovic",
   title = "Compound Eye Sensor for 3D Ego Motion Estimation",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04)",
   publisher = "IEEE",
   month = "April",
   year = "2004",
   Notes = "submitted"
}

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