Common Sensing Techniques for Reactive Robots

Common Sensing Techniques for
Reactive Robots

 Objectives:
Describe the difference between active and passive sensors, and give examples
of each.
Define each of the following terms in one or two sentences: proprioception,
exterception, exproprioception, proximity sensor, logical sensor, false positive,
false negative, hue, saturation, image, pixel, image function, computer vision.
List themetrics for rating individual sensors and a sensor suite, and apply
these metrics to a particular application.
Describe the problems of specular reflection, cross-talk, and foreshortening
with an ultrasonic transducer, and if given a 2D line drawing of surfaces,
illustrate where each of these problems would likely occur.
Describe the types of behavioral sensor fusion and be able to apply to a realworld
problem.
Write perceptual schemas from any logically equivalent range sensor to
produce a polar plot percept for obstacle avoidance behavior.
If given a small interleaved RGB image and a range of color values for a
region, be able to 1) threshold the image on color and 2) construct a color
histogram.
Write computer vision code to enable a robot to imprint on and track a
color.