Abstract
Two visual sensing modalities in insects, the ocelli and compound eyes, provide signals used for flight stabilization and navigation. In this article, a generalized model of the ocellar visual system is developed for a 3-D visual simulation environment based on behavioral, anatomical, and electrophysiological data from several species. A linear measurement model is estimated from Monte Carlo simulation in a cluttered urban environment relating state changes of the vehicle to the outputs of the ocellar model. A fully analog-printed circuit board sensor based on this model is designed and fabricated. Open-loop characterization of the sensor to visual stimuli induced by self motion is performed. Closed-loop stabilizing feedback of the sensor in combination with optic flow sensors is implemented onboard a quadrotor micro-air vehicle and its impulse response is characterized.
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Acknowledgments
The authors would like to thank Hector Escobar Alvarez for his assistance with vehicle hardware integration.
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This work was supported by AFOSR FA9550-09-1-0075.
Appendix
Appendix
Matrix of relative variance values, \(\sigma _\mathrm{rel}^2\), from (4):
Matrix of partial F-ratio values, \(F_n\), from (5):
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Gremillion, G., Humbert, J.S. & Krapp, H.G. Bio-inspired modeling and implementation of the ocelli visual system of flying insects. Biol Cybern 108, 735–746 (2014). https://doi.org/10.1007/s00422-014-0610-x
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DOI: https://doi.org/10.1007/s00422-014-0610-x