2012
DOI: 10.1155/2012/627079
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Visual Flight Control of a Quadrotor Using Bioinspired Motion Detector

Abstract: Motion detection in the fly is extremely fast with low computational requirements. Inspired from the fly's vision system, we focus on a real-time flight control on a miniquadrotor with fast visual feedback. In this work, an elaborated elementary motion detector (EMD) is utilized to detect local optical flow. Combined with novel receptive field templates, the yaw rate of the quadrotor is estimated through a lookup table established with this bioinspired visual sensor. A closed-loop control system with the feedb… Show more

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Cited by 6 publications
(8 citation statements)
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“…Motion detection on direction and velocity has been being an active research topic in visual neuroscience since 1956 [15][16][17][18][19][20][21][22][23], in which estimation on position and velocity is a basic and vital branch. Nakamura [15] and Ruffier et al [16] studied optic flow and direction estimators.…”
Section: Motion Detection and Applicationsmentioning
confidence: 99%
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“…Motion detection on direction and velocity has been being an active research topic in visual neuroscience since 1956 [15][16][17][18][19][20][21][22][23], in which estimation on position and velocity is a basic and vital branch. Nakamura [15] and Ruffier et al [16] studied optic flow and direction estimators.…”
Section: Motion Detection and Applicationsmentioning
confidence: 99%
“…Visual perception and motion detection are essential and crucial in processing visual information or optic flow that guides much of fly's behavior [6,7]. Studies on such visual system can be categorized into at least four broader types: internal neuronal structure anatomy [1][2][3][4][5]; computational models [8][9][10][11][12][13][14]; motion detection and tracking [15][16][17][18][19][20][21][22][23]; and motion control [19,20]. Especially, visual neuroscientists, who reported many valuable neuronal-based circuit models [1][2][3][4][5], made great efforts to explore intensively internal relationships between neurons, e.g., large monopolar cell (LMC), m 1 and m 2 cells, and lobula plate tangential cell (LPTC).…”
Section: Introductionmentioning
confidence: 99%
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“…The sensor is located in front (i.e., the moving direction). Vision is used in many applications such as optical motion planning mapping [6], [8], or the motion sensors themselves [4], [3], [11].…”
Section: Concepts and Premisesmentioning
confidence: 99%