Extracting behaviorally relevant retinal image motion cues via wide-field integration
Extracting behaviorally relevant retinal image motion cues via wide-field integration
复制标题
通过广域积分提取行为相关的视网膜图像运动线索
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
M. Frye
中科院分区：
文献类型：
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作者：
J. Humbert;M. Frye
昆虫在面对不确定性时表现出令人难以置信的鲁棒闭环飞行动力学。促成这种无与伦比的行为的基本原理是通过空间宽场整合将视觉感觉信息快速处理和会聚到飞行运动命令，这是由视觉神经节的小叶板部分中的视网膜运动模式敏感中间神经元（LPTC）完成的。空间连续视网膜图像流和宽场积分处理的模型，并在控制理论框架内的平面旋翼机的悬停响应证明利用静态输出反馈的宽场积分信号。因此，通过计算高效的宽场积分处理来提取全局视网膜运动线索为在自主机器人导航和飞行控制应用中利用视觉感觉信息提供了新颖且有前途的方法
Insects exhibit incredibly robust closed loop flight dynamics in the face of uncertainties. A fundamental principle contributing to this unparalleled behavior is rapid processing and convergence of visual sensory information to flight motor commands via spatial wide-field integration, accomplished by retinal motion pattern sensitive interneurons (LPTCs) in the lobula plate portion of the visual ganglia. Models for spatially continuous retinal image flow and wide-field integration processing are presented, and within a control-theoretic framework the hover response of a planar rotorcraft is demonstrated utilizing static output feedback of wide-field integration signals. Hence, extraction of global retinal motion cues through computationally efficient wide-field integration processing provides a novel and promising methodology for utilizing visual sensory information in autonomous robotic navigation and flight control applications