A mouse sensor and a 2-pixel motion sensor exposed to continuous illuminance changes

  • Expert Fabien
  • Viollet Stéphane
  • Ruffier Franck

  • Elementary motion detector EMD
  • Optic-flow
  • Insect Vision
  • Mouse sensor
  • Micro-aerial vehicle MAV
  • Test bench
  • Test bench


Considerable attention has been paid during the last decade to navigation systems based on the use of visual optic flow cues, especially for guiding autonomous robots designed to travel under specific lighting conditions. In the present study, the performances of two visual motion sensors used to measure a local 1-D angular speed, namely (i) a bio-inspired 2-pixel motion sensor and (ii) an off-the-shelf mouse sensor, were tested for the first time in a wide range of illuminance levels. The sensors' characteristics were determined here by recording their responses to a purely rotational optic flow generated by rotating the sensors mechanically and comparing their responses with an accurate rate gyro output signal. The refresh rate, a key parameter for future optic flow-based robotic applications, was also defined and tested in these two sensors. The bio-inspired 2-pixel motion sensor was found to be more accurate indoors whereas the mouse sensor was found to be more efficient outdoors.