Related papers: Synthetic Neural Vision System Design for Motion P…
Motion perception is a critical capability determining a variety of aspects of insects' life, including avoiding predators, foraging and so forth. A good number of motion detectors have been identified in the insects' visual pathways.…
Inspired by insects' visual brains, this paper presents original modelling of a complementary visual neuronal systems model for real-time and robust collision sensing. Two categories of wide-field motion sensitive neurons, i.e., the lobula…
Collision detection is one of the most challenging tasks for Unmanned Aerial Vehicles (UAVs). This is especially true for small or micro UAVs, due to their limited computational power. In nature, flying insects with compact and simple…
This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high speed motion. As a representative scenario, we consider the case of a robot at rest reacting to a small, fast approaching object at speeds higher than…
Small target motion detection within complex natural environments is an extremely challenging task for autonomous robots. Surprisingly, the visual systems of insects have evolved to be highly efficient in detecting mates and tracking prey,…
Anyone who has tried to swat a fly has likely been frustrated by its remarkable agility.This ability stems from its visual neural perception system, particularly the collision-selective neurons within its small brain.For autonomous robots…
Monitoring small objects against cluttered moving backgrounds is a huge challenge to future robotic vision systems. As a source of inspiration, insects are quite apt at searching for mates and tracking prey -- which always appear as small…
Compared to human vision, locust visual systems excel at rapid and precise collision detection, despite relying on only hundreds of thousands of neurons organized through a few neuropils. This efficiency makes them an attractive model…
Discriminating small moving objects within complex visual environments is a significant challenge for autonomous micro robots that are generally limited in computational power. By exploiting their highly evolved visual systems, flying…
In the central nervous systems of animals like pigeons and locusts, neurons were identified which signal objects approaching the animal on a direct collision course. Unraveling the neural circuitry for collision avoidance, and identifying…
Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air…
This research addresses the challenging problem of visual collision detection in very complex and dynamic real physical scenes, specifically, the vehicle driving scenarios. This research takes inspiration from a large-field looming…
Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow…
For autonomous robots in dynamic environments mixed with human, it is vital to detect impending collision quickly and robustly. The biological visual systems evolved over millions of years may provide us efficient solutions for collision…
The Lobula Giant Movement Detector (LGMD) is an identified neuron of the locust that detects looming objects and triggers the insect's escape responses. Understanding the neural principles and network structure that lead to these fast and…
Insect vision supports complex behaviors including associative learning, navigation, and object detection, and has long motivated computational models for understanding biological visual processing. However, many contemporary models…
Small target motion detection is critical for insects to search for and track mates or prey which always appear as small dim speckles in the visual field. A class of specific neurons, called small target motion detectors (STMDs), has been…
Despite progress developing experimentally-consistent models of insect in-flight sensing and feedback for individual agents, a lack of systematic understanding of the multi-agent and group performance of the resulting bio-inspired sensing…
We characterize the computation of motion in the fly visual system as a mapping from the high dimensional space of signals in the retinal photodetector array to the probability of generating an action potential in a motion sensitive neuron.…
We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…