A two-directional 1-gram visual motion sensor inspired by the fly's eye
Résumé
Optic flow based autopilots for Micro-Aerial Vehicles (MAVs) need lightweight, low-power sensors to be able to fly safely through unknown environments. The new tiny 6-pixel visual motion sensor presented here meets these demanding requirements in term of its mass, size and power consumption. This 1-gram, low-power, fly-inspired sensor accurately gauges the visual motion using only this 6-pixel array with two different panoramas and illuminance conditions. The new visual motion sensor's output results from a smart combination of the information collected by several 2-pixel Local Motion Sensors (LMSs), based on the \enquote{time of travel} scheme originally inspired by the common housefly's Elementary Motion Detector (EMD) neurons. The proposed sensory fusion method enables the new visual sensor to measure the visual angular speed and determine the main direction of the visual motion without any prior knowledge. By computing the median value of the output from several LMSs, we also ended up with a more robust, more accurate and more frequently refreshed measurement of the 1-D angular speed.
Mots clés
Biomedical optical imaging
Lenses
Motion measurement
Optical sensors
Sensor phenomena and characterization
Visualization
1-gram insect based device
MAV
autopilots
elementary motion detector
insect-based visual motion sensors
lightweight low-power sensors
maximum permissible avionic payload
microaerial vehicle
natural scene
navigation safety
sensor fusion method
visual motion measurement
aerospace safety
aircraft navigation
autonomous aerial vehicles
avionics
image fusion
image motion analysis
natural scenes
robot vision
Bio-inspiration
fly
motion sensor
neuromorphic
optic flow
vision
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IEEE_Sensors_Journal_2012_Roubieu_et_al_Final_Submission.pdf (1.88 Mo)
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