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Paper Abstract and Keywords
Presentation 2016-01-29 14:25
Ego-motion estimation system for a small UAV inspired by the motion-detection model of the insect's visual system
Shota Tsunekawa, Fuyuki Ueno (Osaka Univ.), Kazuo Ishii (Kyushu I.T.), Tetsuya Yagi, Hirotsugu Okuno (Osaka Univ.) NC2015-63
Abstract (in Japanese) (See Japanese page) 
(in English) In this study, we devised an algorithm that estimates the 6 degree-of-freedom ego-motion of a small unmanned aerial vehicle by classifying optical flow (OF) patterns, inspired by insect’s visuomotor control system. The algorithm classifies the ego-motion in terms of OF patterns with a wide field of view acquired by a pair of image sensors facing in opposite directions each other. Inspired by the insect’s visual nervous system, we devised a low cost calculation algorithm that computes local image velocity, which plays an important role in a acquiring OF pattern. We evaluated the output of the algorithm using images recorded by sensors that actually rotate or translate. The results demonstrate that the output of the algorithm is valid for classifying ego-motion, such as rotation and translation.
Keyword (in Japanese) (See Japanese page) 
(in English) optical flow / neuromorphic / UAV / insect / vision / / /  
Reference Info. IEICE Tech. Rep., vol. 115, no. 426, NC2015-63, pp. 33-38, Jan. 2016.
Paper # NC2015-63 
Date of Issue 2016-01-21 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2015-63

Conference Information
Committee NC NLP  
Conference Date 2016-01-28 - 2016-01-29 
Place (in Japanese) (See Japanese page) 
Place (in English) Kyushu Institute of Technology 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Implementation of Neuro Computing,Analysis and Modeling of Human Science, etc 
Paper Information
Registration To NC 
Conference Code 2016-01-NC-NLP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Ego-motion estimation system for a small UAV inspired by the motion-detection model of the insect's visual system 
Sub Title (in English)  
Keyword(1) optical flow  
Keyword(2) neuromorphic  
Keyword(3) UAV  
Keyword(4) insect  
Keyword(5) vision  
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Keyword(7)  
Keyword(8)  
1st Author's Name Shota Tsunekawa  
1st Author's Affiliation Osaka University (Osaka Univ.)
2nd Author's Name Fuyuki Ueno  
2nd Author's Affiliation Osaka University (Osaka Univ.)
3rd Author's Name Kazuo Ishii  
3rd Author's Affiliation Kyushu Institute of Technology (Kyushu I.T.)
4th Author's Name Tetsuya Yagi  
4th Author's Affiliation Osaka University (Osaka Univ.)
5th Author's Name Hirotsugu Okuno  
5th Author's Affiliation Osaka University (Osaka Univ.)
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Speaker Author-1 
Date Time 2016-01-29 14:25:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2015-63 
Volume (vol) vol.115 
Number (no) no.426 
Page pp.33-38 
#Pages 6 
Date of Issue 2016-01-21 (NC) 

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