Large field of view 3D detection with a bionic curved compound-eye camera

Abstract

As automation technologies advance, the need for compact and multi-modal sensors in robotic applications is growing. To address this demand, we introduce CompdVision, a novel sensor that combines near-field 3D visual and tactile sensing. This sensor, with dimensions of 22×14×14 mm, leverages the compound eye imaging system to achieve a compact form factor without compromising its dual modalities. CompdVision utilizes two types of vision units to meet diverse sensing requirements. Stereo units with far-focus lenses can see through the transparent elastomer, facilitating depth estimation beyond the contact surface, while tactile units with near-focus lenses track the movement of markers embedded in the elastomer to obtain contact deformation. Experimental results validate the sensor's superior performance in 3D visual and tactile sensing. The sensor demonstrates effective depth estimation within a 70mm range from its surface. Additionally, it registers high accuracy in tangential and normal force measurements. The dual modalities and compact design make the sensor a versatile tool for complex robotic tasks. Videos are available at https://hkust-orisys.github.io/CompdVision.

Design of cooled infrared bionic compound eye optical system with large field-of-view

“…In addition, a single aperture system needs a very high frame rate to track and measure high-speed moving targets. Therefore, this paper has carried out the technical research on the multi aperture compound eye infrared camera, hoping to apply the multi aperture bionic compound eye technology to the field of infrared detection, and make use of the advantages of the multi aperture imaging technology in large field of view, low distortion, and suitable for moving target detection, to obtain better observation effect [1][2] .…”

Advanced Biomimetic Multispectral Curved Compound Eye Camera for Aerial Multispectral Imaging in a Large Field of View

“…In the research, the curved compound eye system shows the advantage of ultra-large FOV imaging with low distortion. The application of curved systems mainly focuses on shape detecting, trajectory tracking, orientation detecting and 3D measurement [8][9][10][11][12][13].…”

“…The error introduced by the image reconstruction method can be described with Equation (3). Spectral resolution (nm) 10 11.6 Maximum framerate (fps) 13 13 Distortion <2% <1.78%…”