Cooperative optical-imaging sensor array
An apparatus and method for providing image primitives, such as edge polarity, edge magnitude, edge orientation, and edge displacement, and derivatives thereof, for an object are described. The data are obtained substantially simultaneously and processed in parallel such that multiple objects can be distinguished from one another in real time.
1. An optical-imaging apparatus comprising:
at least two optical sensors disposed in a chosen spatial configuration such that neighboring optical sensors included in said at least two optical sensors have overlapping fields of view, for receiving optical signals from an object illuminated solely by ambient light at least a portion of said object being located within the field of view of said at least two optical sensors, said at least two optical sensors having analog outputs;
means for simultaneously receiving the analog outputs of said at least two optical sensors in response to the optical signals; and
means for processing the analog outputs in parallel to generate image features of the object.
2. The apparatus of claim 1 , wherein the image features comprise edge magnitude, primary orientation, displacement from one of said at least two optical sensors, exact orientation, and time derivative.
3. The apparatus of claim 2 , wherein the displacement from one of said at least two optical sensors, and the exact orientation image features are substantially insensitive to changes in the amount of light impinging on said at least two optical sensors.
4. The apparatus of claim 1 , further comprising means for bringing the object into focus on the at least two optical sensors.
5. The apparatus of claim 1 , wherein said at least two optical sensors comprises seven optical sensors, and wherein the chosen spatial configuration comprises a substantially planar hexagon having a center with one of said seven optical sensors being disposed at the center, and each of said remaining six optical sensors being disposed at a vertex of the hexagon.
6. The apparatus of claim 1 , further comprising a plurality of sets of said at least two optical sensors having a second chosen spatial configuration, and means for measuring the analog outputs from each of said at least two optical sensors in each set such that object segmentation and object direction can be determined.