REU: Examining vision sensor for cm-scale robots

Abstract

The capabilities of the Centeye Stonyman Vision Chip were examined on the Parallax BOE-bot platform. This paper describes the tests that were performed to determine the sensor’s suitability for controlling navigation in an unknown environment. M. Srinivasan’s Image Interpolation Algorithm was used to compute 1D optical flow. Parameters that affect the optical flow’s signal-to-noise ratio were manipulated to acquire a sufficiently strong signal and navigation of a testing arena and collision avoidance were demonstrated.