20.500.12556/RUL-151584 Miniature mobile robot detection using an ultra-low resolution time-of-flight sensor Miniature mobile robots in multi-robotic systems require reliable environmental perception for successful navigation, especially when operating in the real-world environment. One of the sensors that have recently become accessible in microrobotics due to their size and cost-effectiveness is a multi-zone time-of-flight (ToF) sensor. In this research, object classification using a convolutional neural network (CNN) based on an ultra-low resolution ToF sensor is implemented on a miniature mobile robot to distinguish the robot from other objects. The main contribution of this work is an accurate classification system implemented on low resolution, low processing power and low power consumption hardware. The developed system consists of a VL53L5CX ToF sensor with an 8x8 depth image and a low-power RP2040 microcontroller. The classification system is based on a customised CNN architecture to determine the presence of a miniature mobile robot within the observed terrain, primarily characterized by sand and rocks. The developed system trained on a custom dataset can detect a mobile robot with an accuracy of 91.8% when deployed on a microcontroller. The model implementation requires 7 kB of RAM, has an inference time of 34 ms, and an energy consumption during inference of 3.685 mJ. miniature robots microcontrollers time-of-flight convolutional neural network binary classification ultra-low resolution low power TinyML miniaturni roboti mikrokrmilniki čas preleta konvolucijske nevronske mreže binarna klasifikacija ultra-nizka resolucija nizka moč TinyML true false true Angleški jezik Slovenski jezik Članek v reviji 2023-10-10 13:45:01 2023-10-10 13:45:05 2025-04-22 13:23:47 0000-00-00 00:00:00 2023 0 0 9 str. Vol. 72, art. 5028009 Sep. 2023 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5:007.52 0018-9456 10.1109/TIM.2023.3318710 166014211 Pleterski...-Miniature_Mobile_Robot_Detection_Using_an_Ultralow-Resolution_Time-of-Flight_Sensor.pdf Pleterski...-Miniature_Mobile_Robot_Detection_Using_an_Ultralow-Resolution_Time-of-Flight_Sensor.pdf 1 11857F79E5C26B474CB81BFCA1F46D2B a42584dc9b4adfa1522edbc3990d4b3f76f5cd7292f5b0a6e2ac2af69732bcd1 981343d1-6762-11ee-9430-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=176581 https://ieeexplore.ieee.org/document/10262176 1 751ef428-6762-11ee-9430-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=176580 Fakulteta za strojništvo 0 0 0