Abstract
Inspired by investigations in water striders (Gerrids) on the eye structure and visually controlled behaviour and subsequent simulations of self-motion estimates from optic flow, a device is presented that extracts self-motion parameters exclusively from flow. Optical mouse chips provided with adequate lenses serve as motion sensors. Pairs of sensors with opposite lines of sight are mounted on a sensor head. The optical axes of the sensor pairs are distributed over the largest possible solid angle. The device is fast, cheap and light. The calibration procedure and tests on the precision of self-motion estimates in outdoor experiments are reported.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Baird, E., Srinivasan, M.V., Zhang, S., Lamont, R., Cowling, A.: From Animals to Animats 9, Proceedings 9th International Conference on Simulation of Adaptive Behaviour, SAB, Rome. Visual Control of Flight Speed and Height in the Honeybee, pp. 40–51. Springer-Verlag Berlin Heidelberg (2006)
Baker, P., Fermüller, C., Aloimonos, Y., Pless, R.: A spherical eye from multiple cameras (makes better models of the world). Proceedings IEEE Computer Society Conference on Computer Vision and Pattern Recognition CVPR 2001, vol. 1, pp. 576–583 (2001)
Baker, P., Ogale, A.S., Fermüller, C., Aloimonos, Y.: The argus eye: A new tool for robotics. IEEE Robotics and Automation Magazine: Special Issue on Panoramic Robots 11 Nr. 4, 31–38 (2004)
Chahl, J.S., Srinivasan, M.V.: Reflective surfaces for panoramic imaging. Applied Optics 36(31), 8275–8285 (1997)
Dahmen, H.: Eye specialisation in waterstriders : an adaptation to life in a flat world. Journal of Comparative Physiology A 169, 623–632 (1991)
Dahmen, H., Franz, M.O., Krapp, H.G.: Extracting Egomotion from Optic Flow: Limits of Accuracy and Neural Matched Filters. Motion Vision, pp. 143–168. Springer-Verlag Berlin Heidelberg New York (2001)
Dahmen, H., Wüst, R.M., Zeil, J.: Extracting egomotion parameters from optic flow: principal limits for animals and machines. From Living Eyes to Seeing Machines, pp. 174–198. Oxford Univ Press (1997)
Egelhaaf, M.: Invertebrate Vision. The neural computation of visual motion information, pp. 399–461. Cambr. Univ. Press (2006)
Egelhaaf, M., Kern, R.: Vision in flying insects. Current Opinion in Neurobiology 12, 699–706 (2002)
Egelhaaf, M., Kern, R., Lindemann, J.P., Braun, E., Geurten, B.: Active Vision in Blowflies : Strategies and Neuronal Mechanisms of Spatial Orientation. Chapter 4 of this book. Springer-Verlag Berlin Heidelberg (2009)
Franceschini, N., Ruffier, F., Serres, J.: Insect Pilots : Vertical and Horizontal Guidance. Chapter 3 of this book. Springer-Verlag Berlin Heidelberg (2009)
Franz, M.O., Krapp, H.G.: Wide-field motion-sensitive neurons and matched filters for optic flow fields. Biological Cybernetics 83, 185–197 (2000)
Fry, S.N.: Experimental approaches toward a functional understanding of insect flight control. Chapter 1 of this book. Springer-Verlag Berlin Heidelberg (2009)
Gluckman, J., Nayar, S.K.: Ego-motion and omnidirectional cameras. Proceeding of the 6th International Conference on Computer vision (ICCV’03) (2003)
Grassi, V., Okamoto, J.: Development of an omnidirectional vision system. Journal of the Brazilian Society of Mechanical Science and Engineering XXVIII, No. 1, 58–68 (2006)
Junger, W.: Waterstriders (gerris paludum f) compensate for drift with a discontinuously working visual position servo. Journal of Comparative Physiology A 169, 633–639 (1991)
Junger, W., Dahmen, H.: Response to self-motion in waterstriders: visual discrimination between rotation and translation. Journal of Comparative Physiology A 169, 641–646 (1991)
Koenderink, J.J., van Doorn, A.J.: Facts on optic flow. Biological Cybernetics 56, 247–254 (1987)
Nayar, S.K.: Catadioptric omnidirectional camera. Proceedings IEEE Conference CVPR, pp. 482–488 (1997)
Shakernia, O., Vidal, R., Sastry, S.: Omnidirectional egomotion estimation from back-projection flow. IEEE Workshop on Omnidirectional Vision (2003)
Pless, R.: Using many cameras as one. Proc. IEEE CVPR’03, vol. 2, pp. 587–593 (2003)
Press, W., Flannery, B., Teukolsky, S., Vetterling, W. (eds.): Numerical Recipes in Pascal. Nonlinear Models, pp. 572–580. Cambridge University Press (1989)
Srinivasan, M., Zhang, S., Chahl, J., Barth, E., Venkatesh, S.: How honeybees make grazing landings on flat surfaces. Biological Cybernetics 83(3), 171–183 (2000)
Srinivasan, M., Zhang, S., Lehrer, M., Collett, T.: Honeybee navigation en route to the goal: visual flight control and odometry. Journal of Experimental Biology 199(Pt 1), 237–244 (1996)
Srinivasan, M.V., Thurrowgood, S., Soccol, D.: From visual guidance in flying insects to autonomous aerial vehicles. Chapter 2 of this book. Springer-Verlag Berlin Heidelberg (2009)
Vassallo, R.F., Santos-Victor, J., Schneebeli, H.J.: A general approach for egomotion estimation with omnidirectional images. Proceedings of the Third Workshop on Omnidirectional Vision, 97–103 (2002)
Zeil, J., Boeddeker, N., Stürzl, W.: Visual Homing in Insects and Robots. Chapter 7 of this book. Springer-Verlag Berlin Heidelberg (2009)
Zufferey, J.C., Beyeler, A., Floreano, D.: Optic Flow to Steer and Avoid Collisions in 3D. Chapter 6 of this book. Springer-Verlag Berlin Heidelberg (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Dahmen, H., Millers, A., Mallot, H.A. (2009). Insect-Inspired Odometry by Optic Flow Recorded with Optical Mouse Chips. 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_9
Download citation
DOI: https://doi.org/10.1007/978-3-540-89393-6_9
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89392-9
Online ISBN: 978-3-540-89393-6
eBook Packages: EngineeringEngineering (R0)