Name
Abstract | ||
|---|---|---|
Abstract In this paper a novel integrated, single-chip solution for autonomous navigation inspired by the computations in the insect visuomotor system is proposed. A generalization of the theory of wide field integration (WFI) is presented which supports the use of sensors with a limited field of view, and the system concept is validated based on experiments using a prototype single-chip WFI sensor. The VLSI design implements (1) an array of Elementary Motion Detectors (EMDs) to derive local estimates of optic flow, (2) a novel mismatch compensation approach to handle dissimilarities in local motion detector units, and (3) on-chip programmable optic flow pattern weighting (Wide-Field Integration) to extract relative speed and proximity with respect to the surrounding environment. Computations are performed in the analog domain and in parallel, providing outputs at 1 kHz while consuming only 42.6 μW of power. The resulting sensor is integrated with a ground vehicle and navigation of corridor-like environments is demonstrated. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1007/s10846-011-9549-5 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Bio-inspired vision,Autonomous navigation | Field of view,Weighting,Electronic engineering,Motion detector,Engineering,Relative velocity,Detector,Very-large-scale integration,Computation | Journal |
Volume | Issue | ISSN |
64 | 3-4 | 1573-0409 |
Citations | PageRank | References |
2 | 0.40 | 31 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Peng Xu | 1 | 23 | 5.68 |
| James Sean Humbert | 2 | 21 | 4.34 |
| Pamela Abshire | 3 | 152 | 45.77 |