The optical mouse for indoor mobile robot odometry measurement

Optical Speed Measurement and Applications

“…Another problem was the extreme height dependence of the sensor, which made it impossible for them to use it on carpet. They proposed a modified sensor for they found mice to be unfit for mobile robot navigation (Palacin et al 2006). The results of the authors of this article were similar to other researchers, they found that one way to make mouse sensors useful for navigation is to equip them with telecentric lens, to avoid magnification changes, to use homogeneous illumination, to avoid directional problems and to use two sensors to get rid of kinematic constraints.…”

“…The difference of the two signals is computed and the frequency of the difference signals corresponds to the true ground speed. Indoor dead reckoning solutions for small mobile robots using optical mice were suggested by several authors (Palacin et al 2006, Bonarini et al 2004, Sorensen 2003 T.W. Ng investigated the usability and accuracy of optical mice for scientific measurements in several articles (Ng 2003, Ng & Ang 2004) with good results.…”

“…This property has been noted by others too. (Palacin et al 2006, Bonarini et al 2004, Sorensen 2003 Another very important question is the connection between the distance of the sensors and the accuracy of the measurement. From the equations (8) it is clear that with greater sensor distance higher accuracy can be achieved.…”

Reciclaje Tecnológico al Servicio de la Ciencia

“…Encontraron que la linealidad del ratón óptico era muy buena con un coeficiente de R 2 = 0,9998 (Palacin et al, 2006), pero que la calibración del sensor dependía fuertemente de la textura de la superficie (Minoni & Signorini, 2005). Concluyeron que el ratón era sensible a la orientación y obtuvieron mejoras utilizando un arreglo de múltiples sensores con diferentes orientaciones (Minoni & Signorini, 2005).…”

Outdoor Downward-Facing Optical Flow Odometry with Commodity Sensors

“…Due to their low cost and simplicity, there exists wide interest in the hobbyist robotics community in these sensors. Several examples of their use in limited indoor scenarios exist in the robotics literature (eg [15], [18], and [19]), but they have yet to see use in a field robot application. A method similar to that described here using a webcam and image correlation matching was presented in [12].…”