Miniature artificial compound eyes for optic-flow-based robotic navigation

2014 13th Workshop on Information Optics (WIO) Pub Date : 2014-07-07 DOI:10.1109/WIO.2014.6933290

Ramon Pericet-Camara, Gerard Bahi-Vila, Julien Lecoeur, D. Floreano

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引用次数: 7

Abstract

Miniature curved artificial compound eyes (CURVACE) represent a promising tool to assist in navigation of mobile robots. In particular, they feature ideal properties for minidrones to navigate safely in indoor environments due to its panoramic field of view, high temporal resolution, on-board data processing, small size and lightweight. However, the latter limits on-board available resources significantly, including processing power. In this paper, we demonstrate optic flow extraction by means of a CURVACE prototype with on-board processing and using two different methods. First results on fast optic flow extraction with miniature artificial compound eyes are presented. On one hand, 2D optic flow is calculated on-board using a customized version of Lucas-Kanade method at 1000 optic flow vectors per second across a field of view of 180×60 degrees. As well, we demonstrate the on-board processing of 2D optic flow vectors at a rate of more than 21000 vectors per second from the full field of view as well. For this, we utilize an existing assembly language version of the I2A algorithm.

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用于光流机器人导航的微型人工复眼

微型弯曲人工复眼是一种很有前途的辅助移动机器人导航的工具。特别是，由于其全景视野，高时间分辨率，机载数据处理，小尺寸和轻量化，它们具有理想的特性，可以让微型无人机在室内环境中安全导航。然而，后者极大地限制了机载可用资源，包括处理能力。在本文中，我们展示了光流提取的曲率原型与机载处理和使用两种不同的方法。首次提出了利用微型人工复眼快速提取光流的研究成果。一方面，2D光流是在机载上使用定制版本的Lucas-Kanade方法以每秒1000个光流矢量在180×60度的视场中计算的。此外，我们还演示了在全视场范围内以每秒超过21000个矢量的速度处理2D光流矢量的机载处理。为此，我们利用I2A算法的现有汇编语言版本。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2014 13th Workshop on Information Optics (WIO)

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