A two-directional 1-gram visual motion sensor inspired by the fly's eye

Abstract : Optic flow based autopilots for Micro-Aerial Vehicles (MAVs) need lightweight, low-power sensors to be able to fly safely through unknown environments. The new tiny 6-pixel visual motion sensor presented here meets these demanding requirements in term of its mass, size and power consumption. This 1-gram, low-power, fly-inspired sensor accurately gauges the visual motion using only this 6-pixel array with two different panoramas and illuminance conditions. The new visual motion sensor's output results from a smart combination of the information collected by several 2-pixel Local Motion Sensors (LMSs), based on the \enquote{time of travel} scheme originally inspired by the common housefly's Elementary Motion Detector (EMD) neurons. The proposed sensory fusion method enables the new visual sensor to measure the visual angular speed and determine the main direction of the visual motion without any prior knowledge. By computing the median value of the output from several LMSs, we also ended up with a more robust, more accurate and more frequently refreshed measurement of the 1-D angular speed.
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00803881
Contributeur : Frédéric Roubieu <>
Soumis le : samedi 23 mars 2013 - 16:32:00
Dernière modification le : lundi 21 mars 2016 - 17:28:17
Document(s) archivé(s) le : lundi 24 juin 2013 - 04:10:37

Fichier

IEEE_Sensors_Journal_2012_Roub...
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Frédéric Roubieu, Fabien Expert, Guillaume Sabiron, Franck Ruffier. A two-directional 1-gram visual motion sensor inspired by the fly's eye. IEEE Sensors Journal, Institute of Electrical and Electronics Engineers, 2013, 13 (3), pp.1025-1035. <10.1109/JSEN.2012.2230622>. <hal-00803881>

Partager

Métriques

Consultations de
la notice

183

Téléchargements du document

420