Analog VLSI and neural systems
Analog VLSI and neural systems
Adaptive Behavior - Special issue on biologically inspired models of navigation
Visual navigation in a robot using zig-zag behavior
NIPS '97 Proceedings of the 1997 conference on Advances in neural information processing systems 10
An analog VLSI model of the fly elementary motion detector
NIPS '97 Proceedings of the 1997 conference on Advances in neural information processing systems 10
A Robust Analog VLSI Reichardt Motion Sensor
Analog Integrated Circuits and Signal Processing
A spiking neuron model: applications and learning
Neural Networks
High Time-Resolution Visual Motion Detection with Time Stamped Pixel Design
Analog Integrated Circuits and Signal Processing
Bio-inspired optic flow sensors based on FPGA: Application to Micro-Air-Vehicles
Microprocessors & Microsystems
Research issues in biological inspired sensors for flying robots
MIC '08 Proceedings of the 27th IASTED International Conference on Modelling, Identification and Control
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Sensing visual motion gives a creature valuableinformation about its interactions with the environment. Flies inparticular use visual motion information to navigate through turbulentair, avoid obstacles, and land safely. Mobile robots are idealcandidates for using this sensory modality to enhance theirperformance, but so far have been limited by the computational expenseof processing video. Also, the complex structure of natural visualscenes poses an algorithmic challenge for extracting usefulinformation in a robust manner. We address both issues by creating asmall, low-power visual sensor with integrated analog parallelprocessing to extract motion in real-time. Because our architectureis based on biological motion detectors, we gain the advantages ofthis highly evolved system: A design that robustly and continuouslyextracts relevant information from its visual environment. We showthat this sensor is suitable for use in the real world, anddemonstrate its ability to compensate for an imperfect motor system inthe control of an autonomous robot. The sensor attenuates open-looprotation by a factor of 31 with less than 1 mW power dissipation.