Authors:
Erhard Gwerder
and
Hans Dermot Doran
Affiliation:
Zürich University of Applied Science, Switzerland
Keyword(s):
Robotics, Photoreceptors, Visualization, Robot Vision, Biological System Modeling, Optical Sensors, Autonomous Robots, Speed Sensor.
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Biological Inspired Sensors
;
Image Processing
;
Informatics in Control, Automation and Robotics
;
Perception and Awareness
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vision, Recognition and Reconstruction
Abstract:
As examples of computationally cheap and robust sensors the eyes of a fly are well known in literature. Attempts to replicate the function of the eye in electronic technology has resulted in several algorithms and implementations based on those algorithms. These implementations are either impractical for industrial use or use costly Application Specific Integrated Circuits. In an attempt to use a low-cost Commercial off the Shelf camera as a sensor in a real-world robot navigation use-case we investigate two commonly used algorithms and find them unsuitable. We develop a new algorithm – the Distance of Travel algorithm – show its suitability and investigate its properties in both simulation and practical experiments.