Low-cost miniature wide-angle imaging for self-motion estimation

摘要

This paper examines the performance of a low-cost, miniature, wide field-of-view (FOV) visual sensor that includes advanced pinhole optics and most recent CMOS imager technology. The pinhole camera may often be disregarded because of its apparent simplicity, low aperture and image finesse. However, its angular field can be dramatically improved using only a few off-the-shelf micro-optical elements. With modern high-sensitivity silicon-based digital retina, we show that it could be a practical device for developing self-motion estimation sensor in mobile applications, such as stabilization of a robotic micro flyer.