Bioinspired visuomotor convergence

Authors:
James Sean Humbert;Andrew Maxwell Hyslop
Affiliations:
Department of Aerospace Engineering, University of Maryland, College Park, MD;Department of Aerospace Engineering, University of Maryland, College Park, MD
Venue:
IEEE Transactions on Robotics
Year:
2010

Citing 8
Cited 2

Facts on optic flow

Biological Cybernetics
Divergent stereo in autonomous navigation: from bees to robots

International Journal of Computer Vision - Special issue on qualitative vision
Robot Vision

Robot Vision
Insect-inspired estimation of egomotion

Neural Computation
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Machine Vision: Theory, Algorithms, Practicalities
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IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Fly-inspired visual steering of an ultralight indoor aircraft

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Implementation of wide-field integration of optic flow for autonomous quadrotor navigation

Autonomous Robots
A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow

Autonomous Robots

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Abstract

In this paper, wide-field integration methods, which are inspired by the spatial decompositions of wide-field patterns of optic flow in the insect visuomotor system, are explored as an efficient means to extract visual cues for guidance and navigation. A control-theoretic framework is developed and used to quantitatively link weighting functions to behaviorally-relevant interpretations such as relative orientation, position, and speed in a corridor environment. It is shown through analysis and demonstration on a ground vehicle that the proposed sensorimotor architecture gives rise to navigational heuristics, namely, centering and speed regulation, which are observed in natural systems.