1. Vision Sensors ● Single Cameras ● Panoramic Cameras ● Stereo Cameras

2. Single Cameras ● Uses: – Visual data to match ladar data – Visual identification – Speed-proximity sensor ● Manufacturers: Too numerous to list ● Cost: $500-$10K depending on resolution and frame rate

3. Single Cameras ● Recommendations: – Use digital cameras (not digital video). – Leading interfaces: ● firewire ● camera link

4. Panoramic Cameras ● Single camera + parabolic mirror ● Uses – Localization – Relative position – Azimuth, pitch and roll ● Manufacturer http://www.neovision.cz/prods/panoramic/ ● Cost: 850 EUR

5. Panoramic Cameras ● Multiple cameras stitched together ● Uses – Localization – Relative position – Azimuth, pitch and roll ● Manufacturer http://www.ptgrey.com/products/index.html ● Cost: $19,950

6. Stereo Cameras ● Uses – Obstacle detection – Road positioning ● Manufacturers – Tyzx http://www.tyzx.com/Systems.shtml http://www.tyzx.com/Systems.shtml – Point Grey http://www.ptgrey.com/products/index.html http://www.ptgrey.com/products/index.html – Videre http://www.videredesign.com/ http://www.videredesign.com/

7. Stereo Cameras ● Cost: $2K - $25K ● Benefits: – Simultaneous capture – Better resolution than ladar? – No moving parts