A Novel Infrared Proximity Array Sensor for 3D Visual Sensing: Modeling and Applications

摘要

In this paper, we propose a novel 3D vision sensor, namely infrared proximity array (IPA), capable of detecting position and orientation of components or devices for automation and robotics applications. The IPA sensor utilizes infrared sensor technology to create 3D geometry of sensed objects. Unlike a stereo vision type sensor, it is essentially useful when calibration is a big issue. For instance, a stereo vision based multi-camera system requires submicron level accuracy in device calibration to accurately measure the position of micro parts and devices. Among many areas of applications, therefore, the IPA is most suitable for a micro-robotic workcell that is composed of a 3D realtime visual feedback sensor and a multiple degree of freedom (DOF) manipulator capable of handling 10 to 100 micron parts. Other application areas include 2D proximity sensing or 3D object recognition. Our focus of study in this paper is to demonstrate massive sensor array modeling technique and investigate the feasibility of IPA sensor implementation to robotic application and micro fabrication technology