| Presentation | 2016-01-29 Ego-motion estimation system for a small UAV inspired by the motion-detection model of the insect's visual system Shota Tsunekawa, Fuyuki Ueno, Kazuo Ishii, Tetsuya Yagi, Hirotsugu Okuno, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this study, we devised an algorithm that estimates the 6 degree-of-freedom ego-motion of a small unmanned aerial vehicle by classifying optical flow (OF) patterns, inspired by insect’s visuomotor control system. The algorithm classifies the ego-motion in terms of OF patterns with a wide field of view acquired by a pair of image sensors facing in opposite directions each other. Inspired by the insect’s visual nervous system, we devised a low cost calculation algorithm that computes local image velocity, which plays an important role in a acquiring OF pattern. We evaluated the output of the algorithm using images recorded by sensors that actually rotate or translate. The results demonstrate that the output of the algorithm is valid for classifying ego-motion, such as rotation and translation. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | optical flow / neuromorphic / UAV / insect / vision |
| Paper # | NC2015-63 |
| Date of Issue | 2016-01-21 (NC) |
| Conference Information | |
| Committee | NC / NLP |
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| Conference Date | 2016/1/28(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Kyushu Institute of Technology |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Implementation of Neuro Computing,Analysis and Modeling of Human Science, etc |
| Chair | Toshimichi Saito(Hosei Univ.) / Kenya Jinno(Nippon Inst. of Tech.) |
| Vice Chair | Shigeo Sato(Tohoku Univ.) / Naoto Fujisaka(Hiroshima City Univ.) |
| Secretary | Shigeo Sato(Kyushu Inst. of Tech.) / Naoto Fujisaka(Kyoto Sangyo Univ.) |
| Assistant | Hiroyuki Kanbara(Tokyo Inst. of Tech.) / Hisanao Akima(Tohoku Univ.) / Hidehiro Nakano(Tokyo City Univ.) / Hiroyuki Asahara(Okayama Univ. of Science) |
| Paper Information | |
| Registration To | Technical Committee on Neurocomputing / Technical Committee on Nonlinear Problems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Ego-motion estimation system for a small UAV inspired by the motion-detection model of the insect's visual system |
| Sub Title (in English) | |
| Keyword(1) | optical flow |
| Keyword(2) | neuromorphic |
| Keyword(3) | UAV |
| Keyword(4) | insect |
| Keyword(5) | vision |
| 1st Author's Name | Shota Tsunekawa |
| 1st Author's Affiliation | Osaka University(Osaka Univ.) |
| 2nd Author's Name | Fuyuki Ueno |
| 2nd Author's Affiliation | Osaka University(Osaka Univ.) |
| 3rd Author's Name | Kazuo Ishii |
| 3rd Author's Affiliation | Kyushu Institute of Technology(Kyushu I.T.) |
| 4th Author's Name | Tetsuya Yagi |
| 4th Author's Affiliation | Osaka University(Osaka Univ.) |
| 5th Author's Name | Hirotsugu Okuno |
| 5th Author's Affiliation | Osaka University(Osaka Univ.) |
| Date | 2016-01-29 |
| Paper # | NC2015-63 |
| Volume (vol) | vol.115 |
| Number (no) | NC-426 |
| Page | pp.pp.33-38(NC), |
| #Pages | 6 |
| Date of Issue | 2016-01-21 (NC) |