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Title:
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The optical mouse for indoor mobile robot odometry measurement
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Author:
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Palacín Roca, Jordi; Valgañón, Ignasi; Pernia, R.
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Notes:
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In this work the optical mouse is proposed for indoor odometry measurement in mobile robot applications. The optical mouse is a very low-cost
sensor and has the advantage that the measured displacement is independent from the kinematics of the robot because the optical sensor uses
external natural microscopic ground landmarks to obtain the effective relative displacement. In this work the sensor is calibrated and evaluated
for odometry measurement. It was found that the original conception inside a visual feedback loop precludes its use as an isolated displacement
sensor although its impressive speed and parts, with a CMOS camera and a digital signal processor embedded on the same chip, suggests that an
improved design can be a good alternative for accurate mobile robot odometry measurement. |
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Subject(s):
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-Optical mouse
-Optical sensor
-Displacement sensor
-Odometry measurement |
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Rights:
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(c) Elsevier B.V., 2006
info:eu-repo/semantics/restrictedAccess |
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Document type:
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article
publishedVersion |
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Published by:
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Elsevier
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