A bio-inspired embedded vision system for autonomous micro-robots: the LGMD case

Hu, Cheng and Arvin, Farshad and Xiong, Caihua and Yue, Shigang (2016) A bio-inspired embedded vision system for autonomous micro-robots: the LGMD case. IEEE Transactions on Cognitive and Developmental Systems, PP (99). pp. 1-14. ISSN 2379-8920

Full content URL: https://ieeexplore.ieee.org/document/7480849/

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Abstract

In this paper, we present a new bio-inspired vision
system embedded for micro-robots. The vision system takes inspiration
from locusts in detecting fast approaching objects. Neurophysiological
research suggested that locusts use a wide-field
visual neuron called lobula giant movement detector (LGMD)
to respond to imminent collisions. In this work, we present
the implementation of the selected neuron model by a low-cost
ARM processor as part of a composite vision module. As the
first embedded LGMD vision module fits to a micro-robot, the
developed system performs all image acquisition and processing
independently. The vision module is placed on top of a microrobot
to initiate obstacle avoidance behaviour autonomously. Both
simulation and real-world experiments were carried out to test
the reliability and robustness of the vision system. The results
of the experiments with different scenarios demonstrated the
potential of the bio-inspired vision system as a low-cost embedded
module for autonomous robots.

Keywords:Bio-inspired, LGMD, Collision avoidance, Embedded system, Autonomous robots, Low-cost, NotOAChecked
Subjects:H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G400 Computer Science
Divisions:College of Science > School of Computer Science
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ID Code:25279
Deposited On:30 Nov 2016 14:38

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