Use of Bifocal Objective Lens and Scanning Motion in Robotic Imaging Systems for Simultaneous Peripheral and High Resolution Observation of Objects

Imaging systems are widely used in robotic systems to detect features of their surroundings and their position in order to guide the robot’s motion. In the paper, a variant of an artificial imaging system based on the unique bifocal eye of sunburst diving beetle (Thermonectus marmoratus) larvae is proposed. The biologically inspired imaging system of a single sensor and a coaxial lens form a superposition of two focused narrow and wide view angle images. The output image contains a high resolution area of interest and its periphery. The scanning motion of the bifocal imaging system is also imitated and provides positional relations between objects. Acquired images are used for distance assessment. The intended use of the proposed imaging system is in a guidance system of an autonomously moving robot with biologically inspired locomotion.