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Issue No.12 - Dec. (2013 vol.35)
pp: 2982-2996
Sanjeev J. Koppal , Harvard Univ., Cambridge, MA, USA
Ioannis Gkioulekas , Harvard Univ., Cambridge, MA, USA
Hyunsung Park , Harvard Univ., Cambridge, MA, USA
Kenneth B. Crozier , Harvard Univ., Cambridge, MA, USA
Todd Zickler , Harvard Univ., Cambridge, MA, USA
ABSTRACT
Achieving computer vision on microscale devices is a challenge. On these platforms, the power and mass constraints are severe enough for even the most common computations (matrix manipulations, convolution, etc.) to be difficult. This paper proposes and analyzes a class of miniature vision sensors that can help overcome these constraints. These sensors reduce power requirements through template-based optical convolution, and they enable a wide field-of-view within a small form through a refractive optical design. We describe the tradeoffs between the field-of-view, volume, and mass of these sensors and we provide analytic tools to navigate the design space. We demonstrate milliscale prototypes for computer vision tasks such as locating edges, tracking targets, and detecting faces. Finally, we utilize photolithographic fabrication tools to further miniaturize the optical designs and demonstrate fiducial detection onboard a small autonomous air vehicle.
INDEX TERMS
Optical sensors, Optical imaging, Optical refraction, Photodetectors, Optical attenuators,micro/nano robotics, Computational sensors, micro/nano computer vision, optical templates, optical computing
CITATION
Sanjeev J. Koppal, Ioannis Gkioulekas, Travis Young, Hyunsung Park, Kenneth B. Crozier, Geoffrey L. Barrows, Todd Zickler, "Toward Wide-Angle Microvision Sensors", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.35, no. 12, pp. 2982-2996, Dec. 2013, doi:10.1109/TPAMI.2013.22
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