Abstract
In this chapter wide-field integration (WFI) methods, inspired by the spatial decompositions of wide-field patterns of optic flow in the insect visuomotor system, are reviewed as an efficient means to extract visual cues for guidance and navigation. A control-theoretic framework is described that is used to quantitatively link weighting functions to behaviorally relevant interpretations such as relative orientation, position, and speed in a corridor environment. The methodology is demonstrated on a micro-helicopter using analog VLSI sensors in a bent corridor.
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Acknowledgments
The support for this research was provided in part by the Army Research Office under grants DAAD19-03-D-0004 and Army-W911NF0410176, and the Air Force Research Laboratory under contract FA8651-07-C-0099. The authors would also like to thank Andrew M. Hyslop and Evan R. Ulrich for contributions to the work presented.
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Humbert, J.S., Conroy, J.K., Neely, C.W., Barrows, G. (2009). Wide-Field Integration Methods for Visuomotor Control. In: Floreano, D., Zufferey, JC., Srinivasan, M., Ellington, C. (eds) Flying Insects and Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89393-6_5
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DOI: https://doi.org/10.1007/978-3-540-89393-6_5
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