Implementation and evaluation of HexEYE: a distributed optical proximity sensor system

Author

Lee, Sukhan ; Desai, Jignesh

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

3

fYear

1995

fDate

21-27 May 1995

Firstpage

2353

Abstract

A novel optical proximity sensor system, HexEYE, capable of measuring the distance to, the orientation of, and the curvature at a local area of object surface has been designed and evaluated for robotic application. This paper presents: 1) the implementation of distance mapping from raw data based on a multilayer backpropagation neural network; 2) the hardware and software implementation of a single sensing unit; and 3) the experimental evaluation under various surface conditions. A prototype of a single sensing unit has been built with commercially available parts

Keywords

distance measurement; feedforward neural nets; image sensors; robot vision; sensor fusion; HexEYE; curvature measurement; distance mapping; distance measurement; distributed optical proximity sensor; multilayer backpropagation neural network; object surface; orientation; robot vision; sensor fusion; Application software; Area measurement; Backpropagation; Multi-layer neural network; Optical computing; Optical design; Optical network units; Optical sensors; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525612

Filename

525612