Use of Bifocal Objective Lens and Scanning Motion in Robotic Imaging Systems for Simultaneous Peripheral and High Resolution Observation of Objects

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• 关键词：Biomimetics ; Imaging system ; Bifocal lens ; Scanning motion ; Image disparity
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9793
• 期：1
• 页码：319-328
• 全文大小：3,049 KB
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• 作者单位：Gašper Škulj (19)
  Drago Bračun (19)
  
  19. Faculty of Mechanical Engineering, University of Ljubljana, 1000, Aškerčeva 6, Ljubljana, Slovenia
  
• 丛书名：Biomimetic and Biohybrid Systems
• ISBN：978-3-319-42417-0
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9793

文摘

Imaging systems are widely used in robotic systems to detect features of their surroundings and their position in order to guide the robot’s motion. In the paper, a variant of an artificial imaging system based on the unique bifocal eye of sunburst diving beetle (Thermonectus marmoratus) larvae is proposed. The biologically inspired imaging system of a single sensor and a coaxial lens form a superposition of two focused narrow and wide view angle images. The output image contains a high resolution area of interest and its periphery. The scanning motion of the bifocal imaging system is also imitated and provides positional relations between objects. Acquired images are used for distance assessment. The intended use of the proposed imaging system is in a guidance system of an autonomously moving robot with biologically inspired locomotion.