@article{2419,
  title = {Insect-inspired estimation of egomotion},
  journal = {Neural Computation},
  abstract = {Tangential neurons in the fly brain are sensitive to the typical optic
  flow patterns generated during egomotion. In this study, we examine
  whether a simplified linear model based on the organization principles
  in tangential neurons can be used to estimate egomotion from the optic
  flow. We present a theory for the construction of an estimator
  consisting of a linear combination of optic flow vectors that
  incorporates prior knowledge both about the distance distribution of
  the environment, and about the noise and egomotion statistics of the
  sensor. The 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 are of reasonable quality, albeit less
  reliable.},
  volume = {16},
  number = {11},
  pages = {2245-2260},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  month = nov,
  year = {2004},
  author = {Franz, MO. and Chahl, JS. and Krapp, HG.},
  doi = {10.1162/0899766041941899},
  month_numeric = {11}
}