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QUIZ 1: Sensor Characteristics¶

Due date: 2026-01-17 23:59.

Recommended Resources:

Fraden: Handbook of Modern Sensors, Ch. 1,2 PDF
SF: Sensing and Filtering, Steven M. LaValle, PDF
Recorded Lectures and Slides

In this quiz, you will practice your understanding of the definitions introduced in the first lectures of the course. You may also refer to the formal definitions in the Chapters 1,2 of the Fraden book recommended above.

Assumptions:

In all of the questions in this course, unless otherwise stated, for any sensor assume it is digital.

Active vs Passive Systems¶

Question 1¶

Which one of the following is DEFINITELY NOT an active system?

Question 2¶

Which one of the following is DEFINITELY NOT a passive system?

A fixed security camera that records video of a hallway but does not control anything.

A smartphone using its accelerometer and gyroscope to estimate step count.

A GPS logger used for offline analysis.

A robotic arm that estimates its joint state but does not move unless it receives an external command.

An IMU mounted on a desktop that logs acceleration data for later analysis.

A robot vacuum cleaner that plans paths and moves to clean a room.

A computer vision-based application estimating a pedestrian’s position over time from camera data.

Varoitus: Et ole kirjautunut sisään. Et voi vastata.

Sensor Definition¶

Active vs Passive Sensors¶

Question 4¶

Which one of the following would Fraden most likely classify as an active sensor?

Question 5¶

Which one of the following would Fraden most likely classify as a passive sensor?

Relative vs Absolute Sensors¶

Question 6¶

Which one of the following would Fraden most likely consider to be an absolute sensor?

Question 7¶

Which one of the following would Fraden most likely consider to be a relative sensor?

TODO: assume all sensors mentioned below are digital.

Sensing and Autonomy Basics¶

Question 8¶

As discussed in lecture, many sensing and autonomy problems are characterized by the 4 Us. Which of the following are the Us mentioned in lecture?

Select ALL that apply.

Sensor Calibration¶

Question 9¶

Which of the following calibration scenarios are overdetermined?

Select ALL that apply.

%Correct answers: %✅ Calibrating a thermometer using 100 measurements %✅ Estimating 3D accelerometer bias using thousands of samples %✅ Estimating camera intrinsics from hundreds of images

Question 10¶

Select ALL of the statements about transfer functions and correction functions that are TRUE.

A transfer function describes how a sensor maps a physical quantity to an output signal.

A correction function compensates for systematic sensor errors.

Calibration estimates a correction function using known reference measurements.

A correction function is only needed for nonlinear sensors.

In a linear calibration model, scale and offset parameters define the correction function.

A transfer function always perfectly matches the true physical quantity.

A correction function is applied to a measurement after it is received.

A correction function is only used for active sensors.

A correction function eliminates all noise in sensor measurements.