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Sensors 2014, 14(11), 21045-21064;

Odometry for Ground Moving Agents by Optic Flow Recorded with Optical Mouse Chips

Cognitive Neuroscience, University of Tübingen, Auf der Morgenstelle 28, Tübingen 72076, Germany
Author to whom correspondence should be addressed.
Received: 5 July 2014 / Revised: 17 October 2014 / Accepted: 23 October 2014 / Published: 6 November 2014
(This article belongs to the Special Issue Optical Gyroscopes and Navigation Systems)
Full-Text   |   PDF [5341 KB, uploaded 6 November 2014]


Optical mouse chips—equipped with adequate lenses—can serve as small, light, precise, fast, and cheap motion sensors monitoring optic flow induced by self motion of an agent in a contrasted environment. We present a device that extracts self motion parameters exclusively from flow in eight mouse sensors. Four pairs of sensors with opposite azimuth are mounted on a sensor head, each individual sensor looking down with \(-\)45\(^{\circ}\) elevation. The head is mounted on a carriage and is moved at constant height above a textured planar ground. The calibration procedure and tests on the precision of self motion estimates are reported. View Full-Text
Keywords: odometry; optic flow; multiple optical mouse sensors odometry; optic flow; multiple optical mouse sensors
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Dahmen, H.; Mallot, H.A. Odometry for Ground Moving Agents by Optic Flow Recorded with Optical Mouse Chips. Sensors 2014, 14, 21045-21064.

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