A Robust Analog VLSI Motion Sensor Based on the Visual System of the Fly
A Robust Analog VLSI Motion Sensor Based on the Visual System of the Fly
复制标题
基于果蝇视觉系统的鲁棒模拟VLSI运动传感器
DOI：
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复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
C. Koch
中科院分区：
文献类型：
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作者：
R. Harrison;C. Koch
感知视觉运动为生物提供了关于其与环境相互作用的有价值的信息。特别是苍蝇使用视觉运动信息在湍流空气中导航，避开障碍物并安全着陆。移动的机器人是使用这种感觉模态来增强其性能的理想候选者，但到目前为止，受到处理视频的计算费用的限制。此外，自然视觉场景的复杂结构对以鲁棒的方式提取有用信息提出了算法挑战。我们解决这两个问题，通过创建一个小的，低功耗的视觉传感器与集成的模拟并行处理，实时提取运动。由于我们的架构是基于生物运动检测器，我们获得了这个高度进化的系统的优势：一个强大的设计，从其视觉环境中不断提取相关信息。我们表明，这种传感器是适合在真实的世界中使用，并证明其能力，以补偿不完美的电机系统中的控制的自主机器人。该传感器将开环旋转衰减31倍，功耗小于1 mW。
Sensing visual motion gives a creature valuable information about its interactions with the environment. Flies in particular use visual motion information to navigate through turbulent air, avoid obstacles, and land safely. Mobile robots are ideal candidates for using this sensory modality to enhance their performance, but so far have been limited by the computational expense of processing video. Also, the complex structure of natural visual scenes poses an algorithmic challenge for extracting useful information in a robust manner. We address both issues by creating a small, low-power visual sensor with integrated analog parallel processing to extract motion in real-time. Because our architecture is based on biological motion detectors, we gain the advantages of this highly evolved system: A design that robustly and continuously extracts relevant information from its visual environment. We show that this sensor is suitable for use in the real world, and demonstrate its ability to compensate for an imperfect motor system in the control of an autonomous robot. The sensor attenuates open-loop rotation by a factor of 31 with less than 1 mW power dissipation.
DOI：
10.1364/josaa.4.002379
发表时间：
1987-12-01
影响因子：
1.9
作者：
FIELD, DJ
通讯作者：
FIELD, DJ