A planar compound eye based microsystem for high precision 3D perception  

作　　者：Li Zhang Haiyang Zhan Xinyuan Liu Hongjing Cao Fei Xing Zheng You 

机构地区：[1]Department of Precision Instrument,Tsinghua University,Beijing 100084,China [2]State Key Laboratory of Precision Measurement Technology and Instrument,Tsinghua University,Beijing 100084,China [3]Beijing Advanced Innovation Center for Integrated Circuits,Tsinghua University,Beijing 100084,China

出　　处：《PhotoniX》2024年第1期373-386,共14页智汇光学(英文)

基　　金：supported by the National Key Research and Development Program of China(2023YFB3906300).

摘　　要：Three-dimensional(3D)panoramic vision system plays a fundamental role in the biological perception of external information,and naturally becomes a key system for embodied intelligence to interact with the outside world.A binocular vision system with rotating eyeball has long baseline,large volume and weak sensitivity to motion.A compound eye system has small volume,high sensitivity to motion but poor precision.Here,a planar compound eye microsystem for high precision 3D perception is proposed by combining semiconductor manufacturing process and biological compound eye structure.Using a semiconductor planar image sensor as the sensing unit,a space-coded planar sub-eye array is designed and its sub field of view(FOV)is dynamically mapped to the image sensor.It solves the problem that a traditional vision system cannot simultaneously accommodate wide FOV with long focal length and high sensitivity to motion with high resolution.The parallax among different subeyes enables the system to accurately perceive and dynamically track the 3D position of the target in the range of 10 m and within the FOV of 120°in a single compound eye.This system is of great significance in the fields of intelligent robot and intelligent perception.

关 键 词：Target 3D perception and tracking Planar compound eye microsystem Large distance-baseline-ratio 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]