Bio-Inspired Multi-Mode Optic Flow Sensors for Micro Air Vehicles

نویسندگان

  • Seokjun Park
  • Jaehyuk Choi
  • Jihyun Cho
  • Euisik Yoon
چکیده

Monitoring wide-field surrounding information is essential for vision-based autonomous navigation in micro-air-vehicles (MAV). Our image-cube (iCube) module, which consists of multiple sensors that are facing different angles in 3-D space, can be applied to the wide-field of view optic flows estimation ( -Compound eyes) and to attitude control ( Ocelli) in the Micro Autonomous Systems and Technology (MAST) platforms. In this paper, we report an analog/digital (A/D) mixed-mode optic-flow sensor, which generates both optic flows and normal images in different modes for Compound eyes and -Ocelli applications. The sensor employs a time-stamp based optic flow algorithm which is modified from the conventional EMD (Elementary Motion Detector) algorithm to give an optimum partitioning of hardware blocks in analog and digital domains as well as adequate allocation of pixel-level, column-parallel, and chiplevel signal processing. Temporal filtering, which may require huge hardware resources if implemented in digital domain, is remained in a pixel-level analog processing unit. The rest of the blocks, including feature detection and timestamp latching, are implemented using digital circuits in a column-parallel processing unit. Finally, time-stamp information is decoded into velocity from look-up tables, multiplications, and simple subtraction circuits in a chip-level processing unit, thus significantly reducing core digital processing power consumption. In the normal image mode, the sensor generates 8-b digital images using single slope ADCs in the column unit. In the optic flow mode, the sensor estimates 8-b 1-D optic flows from the integrated mixed-mode algorithm core and 2-D optic flows with an external timestamp processing, respectively.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Mixed-mode Vlsi Optic Flow Sensors for In-flight Control of a Micro Air Vehicle

a Correspondence: G. L. Barrows. Naval Research Laboratory, Code 5722, Washington, D.C. 20375 USA. Telephone: +1 (202) 4043699, Fax: +1 (202) 767-5819, Email: [email protected] ABSTRACT NRL is developing compact optic flow sensors for use in a variety of small-scale navigation and collision avoidance tasks. These sensors are being developed for use in micro air vehicles (MAVs), which ar...

متن کامل

Toward optic flow regulation for wall-following and centring behaviours

In our ongoing project on the autonomous guidance of Micro-Air Vehicles (MAVs) in confined indoor and outdoor environments, we have developed a bio-inspired optic flow based autopilot enabling a hovercraft to travel safely, and avoid the walls of a corridor. The hovercraft is an air vehicle endowed with natural roll and pitch stabilization characteristics, in which planar flight control can be ...

متن کامل

OCTAVE, a bioinspired visuo-motor control system for the guidance of Micro-Air-Vehicles

We have developed a visually based autopilot for Micro Air Vehicles (MAV), which we have called OCTAVE (Optical altitude Control sysTem for Autonomous VEhicles). First we built a miniature MAV and an indoor test-bed. The minihelicopter is tethered to a whirling arm and rotates around a central pole equipped with ground-truth positioning sensors for experimental evaluation. The 100-gram rotorcra...

متن کامل

Toward a fully autonomous hovercraft visually guided thanks to its own bio-inspired motion sensors

Based on a biorobotic approach developed in our laboratory over the past 25 years, we have designed and built several terrestrial and aerial vehicles controlling their position and speed on the basis of optic flow cues (Franceschini et al. 1992, Viollet and Franceschini 1999, Ruffier and Franceschini 2005, Franceschini et al. 2007, Kerhuel et al. 2010). In particular, in our project on the auto...

متن کامل

Interpolation based “time of travel” scheme in a Visual Motion Sensor using a small 2D retina

Insects flying abilities based on optic flow (OF) are nice bio-inspired models for Micro Aerial Vehicles (MAVs) endowed with a limited computational power. Most OF sensing robots developed so far have used numerically complex algorithms requiring large computational power often carried out offline. The present study shows the performances of our bioinspired Visual Motion Sensor (VMS) based on a...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2014