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Insect-inspired estimation of egomotion

Franz, Matthias O.; Chahl, Javaan; Krapp, H

Description

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...[Show more]

dc.contributor.authorFranz, Matthias O.
dc.contributor.authorChahl, Javaan
dc.contributor.authorKrapp, H
dc.date.accessioned2015-12-13T23:11:32Z
dc.date.available2015-12-13T23:11:32Z
dc.identifier.issn0899-7667
dc.identifier.urihttp://hdl.handle.net/1885/87627
dc.description.abstractTangential 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.
dc.publisherMIT Press
dc.sourceNeural Computation
dc.subjectKeywords: algorithm; animal; anisotropy; article; biological model; brain; cytology; depth perception; ergometry; fly; insect; motion; nerve cell; physiology; robotics; rotation; statistical model; Algorithms; Animals; Anisotropy; Brain; Diptera; Ergometry; Insects
dc.titleInsect-inspired estimation of egomotion
dc.typeJournal article
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.citationvolume16
dc.date.issued2004
local.identifier.absfor110906 - Sensory Systems
local.identifier.ariespublicationMigratedxPub16988
local.type.statusPublished Version
local.contributor.affiliationFranz, Matthias O., Max Planck Institute for Biological Cybernetics
local.contributor.affiliationChahl, Javaan, College of Medicine, Biology and Environment, ANU
local.contributor.affiliationKrapp, H, University of Cambridge
local.bibliographicCitation.issue11
local.bibliographicCitation.startpage2245
local.bibliographicCitation.lastpage2260
local.identifier.doi10.1162/0899766041941899
dc.date.updated2016-02-24T09:48:11Z
local.identifier.scopusID2-s2.0-6344249159
CollectionsANU Research Publications

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