Related papers: Modelling Drosophila Motion Vision Pathways for De…
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…
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…
State-of-the-art visual place recognition performance is currently being achieved utilizing deep learning based approaches. Despite the recent efforts in designing lightweight convolutional neural network based models, these can still be…
There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle…
Automated tracking of animal movement allows analyses that would not otherwise be possible by providing great quantities of data. The additional capability of tracking in realtime - with minimal latency - opens up the experimental…
Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion…
Visual intelligence requires anticipating the future behavior of agents, yet vision systems lack a general representation for motion and behavior. We propose dense point trajectories as visual tokens for behavior, a structured mid-level…
Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…
Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…
As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…
Our research aims to develop machines that learn to perceive visual motion as do humans. While recent advances in computer vision (CV) have enabled DNN-based models to accurately estimate optical flow in naturalistic images, a significant…
Deep trackers have proven success in visual tracking. Typically, these trackers employ optimally pre-trained deep networks to represent all diverse objects with multi-channel features from some fixed layers. The deep networks employed are…
Robust and accurate detection of small moving targets in cluttered moving backgrounds is a significant and challenging problem for robotic visual systems to perform search and tracking tasks. Inspired by the neural circuitry of elementary…
Like a rocket being propelled into space, evolution has engineered flies to launch into adulthood via multiple stages. Flies develop and deploy two distinct bodies, linked by the transformative process of metamorphosis. The fly larva is a…
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…
We introduce a novel motion estimation method, MaskFlow, that is capable of estimating accurate motion fields, even in very challenging cases with small objects, large displacements and drastic appearance changes. In addition to lower-level…
To make efficient use of limited physical resources, the brain must match its coding and computational strategies to the statistical structure of input signals. An attractive testing ground for these principles is the problem of motion…
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…
This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…
Sensory systems take continuously varying stimuli as their input and encode features relevant for the organism's survival into a sequence of action potentials - spike trains. The full dynamic range of complex dynamical inputs has to be…