000200083 001__ 200083
000200083 005__ 20190316235931.0
000200083 0247_ $$2doi$$a10.1109/WIO.2014.6933290
000200083 037__ $$aCONF
000200083 245__ $$aMiniature artificial compound eyes for optic-flow-based robotic navigation
000200083 269__ $$a2014
000200083 260__ $$bIEEE$$c2014
000200083 336__ $$aConference Papers
000200083 500__ $$aCURVACE
000200083 520__ $$aMiniature curved artificial compound eyes (CURVACE) represent a promising tool to assist in navigation of mobile robots. In particular, they feature ideal properties for minidrones to navigate safely in indoor environments due to its panoramic field of view, high temporal resolution, on-board data processing, small size and lightweight. However, the latter limits on-board available resources significantly, including processing power. In this paper, we demonstrate optic flow extraction by means of a CURVACE prototype with on-board processing and using two different methods. First results on fast optic flow extraction with miniature artificial compound eyes are presented. On one hand, 2D optic flow is calculated on-board using a customized version of Lucas-Kanade method at 1000 optic flow vectors per second across a field of view of 180°x60°. As well, we demonstrate the on-board processing of 2D optic flow vectors at a rate of more than 21000 vectors per second from the full field of view as well. For this, we utilize an existing assembly language version of the I2A algorithm
000200083 6531_ $$aArtificial Compound Eyes
000200083 6531_ $$aOptic-flow
000200083 6531_ $$aFlying Robotics
000200083 6531_ $$aMobile Robotics
000200083 6531_ $$aVision-based Navigation
000200083 6531_ $$aAerial Robotics
000200083 6531_ $$aSoft Robotics
000200083 700__ $$aPericet Camara, Ramon
000200083 700__ $$aBahi Vila, Gerard
000200083 700__ $$aLecoeur, Julien
000200083 700__ $$0240742$$aFloreano, Dario$$g111729
000200083 7112_ $$aWorkshop on Information Optics WIO2014$$cNeuchatel, Switzerland$$dJuly 7-11, 2014
000200083 773__ $$q1-3$$t2014 13th Workshop on Information Optics WIO2014
000200083 8564_ $$s239932$$uhttps://infoscience.epfl.ch/record/200083/files/Pericet_InfoOptics_pre.pdf$$yPreprint$$zPreprint
000200083 909C0 $$0252161$$pLIS$$xU10370
000200083 909CO $$ooai:infoscience.tind.io:200083$$pconf$$pSTI$$qGLOBAL_SET
000200083 917Z8 $$x198260
000200083 917Z8 $$x198260
000200083 917Z8 $$x198260
000200083 917Z8 $$x198260
000200083 917Z8 $$x255330
000200083 937__ $$aEPFL-CONF-200083
000200083 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000200083 980__ $$aCONF