Movement Tracer System Using Non-Parallel Multiple Line Detectors and High Order Correlation Analysis

A novel object movement tracer using high order correlation analysis of optical detector array signals is introduced. The optical detectors are arranged nonparallel and the movement loci is estimated by a set of detected signal delays and geometrical position of the detectors. This system is applicable to general robotic movement detection because: 1) It employs a noncontact measurement method, 2) The system can be made very compact, and 3) It enables to approximate the movement loci with arcs. In this work, at first, we have looked into estimation of the locus by using a turntable and detecting the surface pattern to evaluate the accuracy of the locus estimation. Secondly, the dctector was mounted on an autonomous vehicle to e~tirnate its running trace by detecting the ground I'nttern. Further, we will introduced a new detector nrr;iy wing optical fibers which enables a much flexible arriingclncnt with the optical detector may. ,fi], Iswon detector anay 7 1 in;igLl ~lm/:,,,, /