An optical flow-based composite navigation method inspired by insect vision

被引：0
作者：
Pan, Chao [1 ]
Liu, Jian-Guo [2 ]
Li, Jun-Lin [1 ]
机构：
[1] Wuhan Digital Engineering Research Institute, Wuhan
[2] National Key Laboratory of Science and Technology on Multi-Spectral Information Processing, Huazhong University of Science and Technology, Wuhan
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2015年 / 41卷 / 06期
关键词：
Cumulative error; Insect vision; Navigation; Optical flow (OF);
D O I：
10.16383/j.aas.2015.c120936
中图分类号：
学科分类号：
摘要：
Many insects can use optical flow (OF) for various navigational tasks. Inspired by the OF navigation strategies of insects, this paper develops an OF-based composite navigation method for more efficient and precise visual location. The composite navigation method is composed of an OF navigation and an OF aided navigation. The OF navigation is to measure motion at each step using an insect inspired OF method and the current position information is then obtained by path integration. As path integration can lead to increasing cumulative position errors, the OF aided navigation is thus employed to correct the position errors. This aided navigation implements an OF-based Kalman filter by studying the insect inspired OF method. It can iteratively match the actual and the predicted OF for a continuous error estimation. The OF navigation and the OF aided navigation are derived from the same OF method so that they can share input signals and some operations in navigation. Experiments using a mobile robot have demonstrated the efficiency of the proposed composite navigation method. Copyright © 2015 Acta Automatica Sinica. All rights reserved.
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页码：1102 / 1112
页数：10
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