Recent studies of insect visual behaviour and navigation reveal a number of elegant strategies that can be profitably applied to the design of autonomous robots. The “peering” behaviour of grasshoppers, for example, has inspired the design of new rangefinding systems. The “centring” response of bees flying through a tunnel has led to simple methods for navigating through corridors. These and other visually-mediated insect behaviours are described along with a number of applications to robot navigation.
- Optic Flow
- Stereo Vision
- Image Motion
- Robot Navigation
- Image Velocity
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, access via your institution.
Tax calculation will be finalised at checkout
Purchases are for personal use onlyLearn about institutional subscriptions
Unable to display preview. Download preview PDF.
J.S. Chahl and M.V. Srinivasan. Visual computation of egomotion using an image interpolation technique. Biol. Cybernetics 74:405–411, 1996.
J.S. Chahl and M.V. Srinivasan. Range estimation with a panoramic visual sensor. J. Opt. Soc. Am. 14, 2144–2151, 1996.
D. Coombs and K. Roberts. Bee-bot: using peripheral optical flow to avoid obstacles. Proc. SPIE, Boston, 1825:714–721, 1992.
A.P. Duchon and W.H. Warren. Robot navigation from a Gibsonian viewpoint. IEEE International Conference on Systems, Man and Cybernetics, San Antonio, TX, October 2–5: 2272–2277, 1994.
S. Exner. The Physiology of the Compound eyes of Insects and Crustaceans. (Translated by R.C Hardie), Springer-Verlag, Berlin, Heidleberg: 130–131, 1891.
N. Franceschini, J.M. Pichon and C. Blanes. From insect vision to robot vision. Phil Trans. R. Soc. bond. B. 337: 283–294, 1992.
M. Lehrer, M.V. Srinivasan, S.W. Zhang and G.A. Horridge. Motion cues provide the bee’s visual world with a third dimension. Nature, Lond. 332:356–357, 1988.
M.G. Nagle and M.V. Srinivasan. Structure from motion: Determining the range and orientation of a surface by image interpolation. J. Opt. Soc. Am. 13, 25–34, 1996.
M.G. Nagle, M.V. Srinivasan and P. Sobey. Robust depth extraction for mobile robots. Proc. SPIE, Boston, 2056: 207–218, 1993.
M.G. Nagle, M.V. Srinivasan and P.J. Sobey. High resolution CCDs and their use in mobility devices. Proceedings, International Mobility Conference, Melbourne: 330–334, 1994.
M.G. Nagle, M.V. Srinivasan and D. Wilson. Image interpolation technique for measurement of egomotion in six degrees of freedom. J. Opt. Soc. Am 14, 3233–3241, 1998.
G. Sandini, F. Gandolfo, E. Grosso, and M. Tistarelli. Vision during action. In: Active Perception, Aloimonos, Y. (ed.). Hillsdale, NJ: Lawrence Erlbaum: 151–190, 1993.
P. Sobey. Active navigation with a monocular robot. Biol Cybernetics 71: 433–440, 1994.
P. Sobey and M.V. Srinivasan. Measurement of optical flow using a generalized gradient scheme. J. Opt. Soc. Am. 8:1488–1498, 1991.
P. Sobey, S. Sasaki, M. Nagle, T. Toriu, M.V. Srinivasan. A hardware system for computing image velocity in real time. Proc. SPIE 1823: 334–341, 1992.
M.V. Srinivasan. Generalized gradient schemes for the measurement of two-dimensional image motion. Biol. Cybernetics 63:421–431, 1990.
M.V. Srinivasan. How insects infer range from visual motion. In: Visual Motion and its Role in the Stabilization of Gaze, F.A. Miles and J. Wallman (eds), Elsevier, Amsterdam: 139–156, 1993.
M.V. Srinivasan. An image-interpolation technique for the computation of optic flow and egomotion. Biol. Cybernetics 71: 401–416, 1994.
M.V. Srinivasan and S. Venkatesh. From Living Eyes to Seeing Machines. Oxford University Press, U.K., 1997.
M.V. Srinivasan, M. Lehrer, W. Kirchner and S.W. Zhang. Range perception through apparent image speed in freely-flying honeybees. Vis. Neurosci. 6:519–535, 1991.
M.V. Srinivasan, M. Lehrer, S.W. Zhang and G.A. Horridge. How honeybees measure their distance from objects of unknown size. J. Comp. Physiol. A 165: 605–613, 1989.
M.V. Srinivasan, S.W. Zhang, M. Lehrer and T.S. Collett. Honeybee navigation en route to the goal: visual flight control and odometry. J. Exp. Biol. 199: 237–244, 1996.
M.V. Srinivasan, S.W. Zhang and N.J. Bidwell. Visually mediated odometry in honeybees. J. Exp. Biol. 200: 2513–2522, 1997.
G. Stange, M. Srinivasan and J. Dalczynski. Rangefinder based on intensity gradient measurement. Applied Optics 30:1695–1700, 1991.
G.K. Wallace. Visual scanning in the desert locust schistocerca gregaria. J. Exp. Biol. 36:512–525, 1959.
K. Weber, S. Venkatesh and M.V. Srinivasan. Insect inspired behaviours for the autonomous control of mobile robots. In: From Living Eyes to Seeing Machines, M.V. Srinivasan and S. Venkatesh (eds), Oxford University Press, U.K.: 226–248, 1997.
Editors and Affiliations
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Srinivasan, M.V., Chahl, J.S., Weber, K., Venkatesh, S., Zhang, S.W., Nagle, M.G. (1998). Robot Navigation Inspired by Principles of Insect Vision. In: Zelinsky, A. (eds) Field and Service Robotics. Springer, London. https://doi.org/10.1007/978-1-4471-1273-0_3
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1275-4
Online ISBN: 978-1-4471-1273-0
eBook Packages: Springer Book Archive