Insect-inspired estimation of egomotion.

Abstract:

:Tangential neurons in the fly brain are sensitive to the typical optic flow patterns generated during egomotion. In this study, we examine whether a simplified linear model based on the organization principles in tangential neurons can be used to estimate egomotion from the optic flow. We present a theory for the construction of an estimator consisting of a linear combination of optic flow vectors that incorporates prior knowledge about the distance distribution of the environment and about the noise and egomotion statistics of the sensor. The estimator is tested on a gantry carrying an omnidirectional vision sensor. The experiments show that the proposed approach leads to accurate and robust estimates of rotation rates, whereas translation estimates are of reasonable quality, albeit less reliable.

journal_name

Neural Comput

journal_title

Neural computation

authors

Franz MO,Chahl JS,Krapp HG

doi

10.1162/0899766041941899

subject

Has Abstract

pub_date

2004-11-01 00:00:00

pages

2245-60

issue

11

eissn

0899-7667

issn

1530-888X

journal_volume

16

pub_type

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