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Insect-Inspired Estimation of Self-Motion


Conference Paper


The tangential neurons in the fly brain are sensitive to the typical optic flow patterns generated during self-motion. In this study, we examine whether a simplified linear model of these neurons can be used to estimate self-motion from the optic flow. We present a theory for the construction of an optimal linear estimator incorporating prior knowledge about the environment. The optimal estimator is tested on a gantry carrying an omnidirectional vision sensor. The experiments show that the proposed approach leads to accurate and robust estimates of rotation rates, whereas translation estimates turn out to be less reliable.

Author(s): Franz, MO. and Chahl, JS.
Book Title: Biologically Motivated Computer Vision
Journal: Proc. 2nd Workshop on Biologically Motivated Computer Vision 2002, BMCV 2002
Number (issue): 2525
Pages: 171-180
Year: 2002
Month: November
Day: 0

Series: LNCS
Editors: B{\"u}lthoff, H.H. , S.W. Lee, T.A. Poggio, C. Wallraven
Publisher: Springer

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1007/3-540-36181-2_17
Event Name: Second International Workshop on Biologically Motivated Computer Vision (BMCV 2002)
Event Place: Tübingen, Germany

Address: Berlin, Germany
Digital: 0
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

Links: PDF


  title = {Insect-Inspired Estimation of Self-Motion},
  author = {Franz, MO. and Chahl, JS.},
  journal = {Proc. 2nd Workshop on Biologically Motivated Computer Vision 2002, BMCV 2002},
  booktitle = {Biologically Motivated Computer Vision},
  number = {2525},
  pages = {171-180},
  series = {LNCS},
  editors = {B{\"u}lthoff, H.H. , S.W. Lee, T.A. Poggio, C. Wallraven},
  publisher = {Springer},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Berlin, Germany},
  month = nov,
  year = {2002},
  month_numeric = {11}