Biological Cybernetics
Visual control of altitude and speed in a flying agent
SAB94 Proceedings of the third international conference on Simulation of adaptive behavior : from animals to animats 3: from animals to animats 3
Modeling Obstacle Avoidance Behavior of Files Using an Adaptive Autonomous Agent
ICANN '97 Proceedings of the 7th International Conference on Artificial Neural Networks
Modeling Insect Compound Eyes: Space-Variant Spherical Vision
BMCV '02 Proceedings of the Second International Workshop on Biologically Motivated Computer Vision
Evolving Vision-Based Flying Robots
BMCV '02 Proceedings of the Second International Workshop on Biologically Motivated Computer Vision
Quasi-Parallax for Nearly Parallel Frontal Eyes
International Journal of Computer Vision
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Flying insects use highly efficient visual strategies to control their self-motion in three-dimensional space. We present a biologically inspired, minimalistic model for visual flight control in an autonomous agent. Large, specialized receptive fields exploit the distribution of local intensities and local motion in an omnidirectional field of view, extracting the information required for attitude control, course stabilization, obstacle avoidance, and altitude control. In open-loop simulations, recordings from each control mechanism robustly indicate the sign of attitude angles, self-rotation, obstacle direction and altitude deviation, respectively. Closed-loop experiments show that these signals are sufficient for three-dimensional flight stabilization with six degrees of freedom.