Illumination-invariant landmark representation by color contrasts - Insect Model and Robot Application

昆虫通过信息简化使它们的小大脑可以控制感官输入。对于视觉导航，有人建议昆虫使用uv -视觉对比将复杂的视觉场景简化为简单且光照不变的天际线表示。该项目将通过构建一个带有UV和视觉通道的基于相机的传感器来验证这一假设，并证明可以实现与天空状态和物体照明无关的强大天际线提取。生物学上合理的视觉导航模型使用这种减少输入表示将被开发。这两个组件将在室外环境中通过模拟真实世界的图像数据库和机器人实验进行测试。该项目一方面将为昆虫导航的天际线假说提供有力支持，另一方面将简单的生物学模型转移到机器人应用（机器人草坪搬运工）中。

Insects apply information reduction to make sensory input manageable for their tiny brains. For visual navigation it has been suggested that insects use UV-visual contrasts to reduce a complex visual scene to a simple and illumination-invariant skyline representation. The project will validate this hypothesis by constructing a camera-based sensor with UV and visual channels and demonstrating that robust skyline extraction independent of the state of the sky and of the illumination of objects is achieved. Biologically plausible visual navigation models using this reduced input representation will be developed. Both components together will be tested in outdoor environments by simulations on real-world image databases and by robot experiments. The project will, one the one hand, provide strong support for the skyline hypothesis of insect navigation, and will, on the other hand, transfer the simple biological model to robotic applications (robotic lawn mover).