| Presentation | 2014-01-20 Ego-motion estimation algorithm for a small unmanned aerial vehicle using motion-detection model of the insect's visual system Fuyuki UENO, Hirotsugu OKUNO, Kazuo ISHII, Tetsuya YAGI, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | A compact ego-motion estimation system is required for autonomous control of an unmanned air vehicle whose demand is increasing recently. In this study, we proposed an algorithm that estimates the ego-motion by discriminating optical flow patterns, inspired by insect's visiomotor control system. First, this algorithm calculates the local velocity from images of the surface of the ground by using a motion-detection model inspired by an insect's visual system. Then, the algorithm integrates the local velocity to estimate ego-motion. We tested this algorithm assuming that the vehicle moves horizontally and rotates in yaw. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | optical flow / insect / neuromorphic / EMD / UAV |
| Paper # | NC2013-73 |
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| Committee | NC |
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| Conference Date | 2014/1/13(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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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 algorithm for a small unmanned aerial vehicle using motion-detection model of the insect's visual system |
| Sub Title (in English) | |
| Keyword(1) | optical flow |
| Keyword(2) | insect |
| Keyword(3) | neuromorphic |
| Keyword(4) | EMD |
| Keyword(5) | UAV |
| 1st Author's Name | Fuyuki UENO |
| 1st Author's Affiliation | () |
| 2nd Author's Name | Hirotsugu OKUNO |
| 2nd Author's Affiliation | Graduate School of Engineering, Osaka University |
| 3rd Author's Name | Kazuo ISHII |
| 3rd Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology |
| 4th Author's Name | Tetsuya YAGI |
| 4th Author's Affiliation | Graduate School of Engineering, Osaka University |
| Date | 2014-01-20 |
| Paper # | NC2013-73 |
| Volume (vol) | vol.113 |
| Number (no) | 382 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |