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Design of a low-power motion tracking system

By Kevin Nickels, Chuck Divin, Jason Frederick, Jeffrey Graham and Luke Powell Christina Soontornvat


Mobile robots require fast, low-power motion tracking systems. Popular systems require much power to move the mass of two cameras on a pan-tilt-verge head, and thus are not suited well for battery-powered mobile robots. In this paper, we present a new system for motion tracking that utilizes a mirror-based optical system to produce a stereo image on one camera. Processing one image solves synchronization challenges common in stereo systems and requires fewer computing resources than processing two images. We have developed a system that uses about 1/50th of the power of a popular system with similar performance specifications.

Year: 2003
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