Lecture 2 - Sensing and Interpreting

Question 1

Sensor

Answer 1

Measure attributes of the world

Question 2

Passive sensor

Answer 2

Relies on environemtnfor observation (camera relies on light etc)

Question 3

Active sensor

Answer 3

puts out energy into env (eg infrared laser)

Question 4

Active sensing

Answer 4

System for using an effector to dynamically position a sensor

Question 5

Physical Sensor attributes

Answer 5

FOV/Range
Accuracy, repeatability and resolution
Responsiveness in target domain
Power consumption
Hardware reliability
Size

Question 6

Sensor categories

Answer 6

Proprioceptive (internal info: bartery etc)
Proximity (relative distance)
Computer Vision

Question 7

Proprioceptive Sensors

Answer 7

Encoders:
- Measure turning distance of motors

Inertial Measurement Unit:
- Measure body’s specific force, angular rate and orientation

GPS

Question 8

Proximity Sensors

Answer 8

Sonar (Ultrasonics) - emit, meaure time, compute

Infrared

Bump and feeler (tactile) sensors - touch sensors

Question 9

Computer Vision definition

Answer 9

Processing data from any modality that uses the electromagnetic spectrum

Question 10

Grey Image

Answer 10

Array that stores brightness of things in FOV

Question 11

RGB Image

Answer 11

Array that defines red, green and blue for each pixel

Question 12

Depth Image

Answer 12

Matrix containing all distance values of pixel points

Question 13

Frame difference algorithm

Answer 13

Subtracting two similar images to detect what has changed