Part

Exteroceptive sensors

You might say: external sensors, eyes

Exteroceptive sensors measure the external scene: images, depth, laser ranges and point clouds.

What it does

They feed perception, mapping, localization, obstacle avoidance and object placement.

Ask

What range, field of view, resolution, rate and lighting or material limits does the task have?

What to look for

1. Images and depth of the external scene
2. Laser ranges and point clouds
3. Geometry for mapping and obstacle avoidance

Parts

• Camera: A camera measures image intensity and colour; stereo or active depth cameras add a distance value for each pixel or point.
• Lidar: Lidar measures distance with laser returns and assembles those samples into a scan or point cloud.

Sources

1. RealSense, D450 Series, D455 depth and RGB specificationsColor and depth therefore describe the same scene more consistently during motion, supporting object recognition, mapping, scanning, teleoperation and AI perception pipelines.
2. Ouster, OS0 Rev8.0 Datasheet, p. 1, optical performanceVertical Resolution 32, 64, or 128 channels Horizontal Resolution 512, 1024, 2048, or 4096
3. SICK, TiM571-2050101 Data Sheet, p. 2, detailed technical dataMeasurement principle HDDM Light source Infrared (850 nm) Laser class 1 (IEC 60825-1:2014, EN 60825-1:2014+A11:2021) Aperture angle Horizontal 270° Scanning frequency 15 Hz Angular resolution Horizontal 0.33° Working range 0.05 m ... 25 m

Use it on your project

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