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1. (WO2005111536) METHOD AND DEVICE FOR HYPERACUTE DETECTION OF AN ESSENTIALLY RECTILINEAR CONTRAST EDGE AND SYSTEM FOR FINE FOLLOWING AND FIXING OF SAID CONTRAST EDGE

Pub. No.:    WO/2005/111536    International Application No.:    PCT/FR2005/000643
Publication Date: Nov 24, 2005 International Filing Date: Mar 16, 2005
IPC: G01B 11/02
B25J 9/16
Applicants: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE (C.N.R.S.)
FRANCESCHINI, Nicolas
VIOLLET, Stéphane
BOYRON, Marc
Inventors: FRANCESCHINI, Nicolas
VIOLLET, Stéphane
BOYRON, Marc
Title: METHOD AND DEVICE FOR HYPERACUTE DETECTION OF AN ESSENTIALLY RECTILINEAR CONTRAST EDGE AND SYSTEM FOR FINE FOLLOWING AND FIXING OF SAID CONTRAST EDGE
Abstract:
The invention relates to a method and a device for the detection of an essentially rectilinear contrast edge (E) in a direction, whereby a periodic sweep (Φ) of the global visual angle (Δγ) of the optical sensors (D1, D2), by translation (S) in another direction transverse to the first direction, is carried out. Said translation provides a periodic sweep of non-uniform angular speed (Φ) during a part of the period of sweeping and a measurement of a time difference (t) from the signals provided by the sensors (D1, D2), depending on the angular position of the contrast edge (E) with relation to a reference direction (OY12) within the global visual angle (Δγ) from the sweep law (Φ), said reference direction being connected to a specific value for the time difference (t). The above is of application to spatial stabilisation of a sight line and the fine following and fixing of an object with at least one contrast edge.