Document Detail


Insect-inspired high-speed motion vision system for robot control.
MedLine Citation:
PMID:  22864467     Owner:  NLM     Status:  Publisher    
Abstract/OtherAbstract:
The mechanism for motion detection in a fly's vision system, known as the Reichardt correlator, suffers from a main shortcoming as a velocity estimator: low accuracy. To enable accurate velocity estimation, responses of the Reichardt correlator to image sequences are analyzed in this paper. An elaborated model with additional preprocessing modules is proposed. The relative error of velocity estimation is significantly reduced by establishing a real-time response-velocity lookup table based on the power spectrum analysis of the input signal. By exploiting the improved velocity estimation accuracy and the simple structure of the Reichardt correlator, a high-speed vision system of 1 kHz is designed and applied for robot yaw-angle control in real-time experiments. The experimental results demonstrate the potential and feasibility of applying insect-inspired motion detection to robot control.
Authors:
Haiyan Wu; Ke Zou; Tianguang Zhang; Alexander Borst; Kolja Kühnlenz
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Publication Detail:
Type:  JOURNAL ARTICLE     Date:  2012-8-3
Journal Detail:
Title:  Biological cybernetics     Volume:  -     ISSN:  1432-0770     ISO Abbreviation:  Biol Cybern     Publication Date:  2012 Aug 
Date Detail:
Created Date:  2012-8-6     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  7502533     Medline TA:  Biol Cybern     Country:  -    
Other Details:
Languages:  ENG     Pagination:  -     Citation Subset:  -    
Affiliation:
Institute of Automatic Control Engineering (LSR), Technische Universität Muenchen, Theresienstrasse 90/Building N5, 80290, Munich, Germany, h.wu@ieee.org.
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