Abstract: An optical navigation sensor includes four two-dimensional imagers, each aligned with an x or y axis of an orthogonal xyz coordinate system, and each defining mutually parallel vertical image directions and the same horizontal directions about a yaw axis. Translation or roll, pitch, and yaw cause image flow or movement, which can be determined by cross-correlation of successive images. Translation in the x or y direction is determined by differencing image motion in the horizontal direction, and translation in the z direction is determined by summing the image motion in the vertical direction. Pitch about x and roll about y are determined by differencing image motion in the vertical direction, and yaw about z is determined by summing the image flow in the horizontal direction.

Abstract: A translucent support, which may be the support surface of an article conveyor, supports objects, locations or dimensions of which are to be determined. A point light source or light sources severally illuminate the surface and object thereupon. An imaging apparatus located below the translucent surface generates signals representing the images of the illuminated translucent surface and the shadows generated by the object thereon. The signals for two or more illumination conditions are processed to determine the locations of at least portions of the object. A particular avatar of the invention uses a conveyor with translucent web.

Abstract: A rotatable drum is arranged around a surface lying generally parallel to the axis of rotation, a plurality of bar code patterns, the individual bars making up each pattern extending normal to the rotational axis. A light beam in a plane is projected onto the surface, the plane lying generally parallel to the rotational axis such that light strikes the surface. A light beam also in a plane is reflected from the surface, the beam having relatively light and relatively dark regions corresponding to the particular bar code patterns upon which the projected beam is imaged. The reflected beam is passed through a cylindrical lens which fans the reflected beam into a wedge shaped beam projecting onto an object in the path of the beam successive bar patterns as the drum rotates.

Abstract: The range of a target is determined by imaging an illuminated spot on the target onto a detector surface by a focusing lens. The detector is positioned away from the focal point of the image of the illuminated spot, so that the image appears as a blurred circle. The range of the target is uniquely determined by the diameter of the blurred circle. In one embodiment the detector surface comprises a relatively large area having a narrow central area within two parallel boundaries equally spaced from a line representing the locus of the centers of the images on the detector surface. The diameter of the blurred circle can be determined by comparing the light energy received in the narrow central area of the detector with the total light energy received by the detector.

Abstract: A rotatable drum is arranged around a surface lying generally parallel to the axis of rotation, a plurality of bar code patterns, the individual bars making up each pattern extending normal to the rotational axis. A light beam in a plane is projected onto the surface, the plane lying generally parallel to the rotational axis such that light strikes the surface. A light beam also in a plane is reflected from the surface, the beam having relatively light and relatively dark regions corresponding to the particular bar code patterns upon which the projected beam is imaged. The reflected beam is passed through a cylindrical lens which fans the reflected beam into a wedge shaped beam projecting onto an object in the path of the beam successive bar patterns as the drum rotates.