A planar compound eye based microsystem for high precision 3D perception

Abstract Three-dimensional (3D) panoramic vision system plays a fundamental role in the biological perception of external information, and naturally becomes a key system for embodied intelligence to interact with the outside world. A binocular vision system with rotating eyeball has long baseline, large volume and weak sensitivity to motion. A compound eye system has small volume, high sensitivity to motion but poor precision. Here, a planar compound eye microsystem for high precision 3D perception is proposed by combining semiconductor manufacturing process and biological compound eye structure. Using a semiconductor planar image sensor as the sensing unit, a space-coded planar sub-eye array is designed and its sub field of view (FOV) is dynamically mapped to the image sensor. It solves the problem that a traditional vision system cannot simultaneously accommodate wide FOV with long focal length and high sensitivity to motion with high resolution. The parallax among different sub-eyes enables the system to accurately perceive and dynamically track the 3D position of the target in the range of 10 m and within the FOV of 120 ° in a single compound eye. This system is of great significance in the fields of intelligent robot and intelligent perception.