Bio-Inspired Embedded Vision System for Autonomous Micro-Robots: The LGMD Case

Hu, Cheng; Arvin, Farshad; Xiong, Caihua; Yue, Shigang

Abstract

In this paper, we present a new bio-inspired vision system embedded for micro-robots. The vision system takes inspiration from locusts in detecting fast approaching objects. Neurophysiological research suggested that locusts use a wide-field visual neuron called lobula giant movement detector (LGMD) to respond to imminent collisions. In this paper, we present the implementation of the selected neuron model by a low-cost ARM processor as part of a composite vision module. As the first embedded LGMD vision module fits to a micro-robot, the developed system performs all image acquisition and processing independently. The vision module is placed on top of a micro-robot to initiate obstacle avoidance behavior autonomously. Both simulation and real-world experiments were carried out to test the reliability and robustness of the vision system. The results of the experiments with different scenarios demonstrated the potential of the bio-inspired vision system as a low-cost embedded module for autonomous robots.

Citation

Hu, C., Arvin, F., Xiong, C., & Yue, S. (2017). Bio-Inspired Embedded Vision System for Autonomous Micro-Robots: The LGMD Case. IEEE Transactions on Cognitive and Developmental Systems, 9(3), 241-254. https://doi.org/10.1109/tcds.2016.2574624

• Journal Article Type: Article
• Online Publication Date: May 30, 2016
• Publication Date: Sep 30, 2017
• Deposit Date: May 27, 2022
• Journal: IEEE Transactions on Cognitive and Developmental Systems
• Print ISSN: 2379-8920
• Electronic ISSN: 2379-8939
• Publisher: Institute of Electrical and Electronics Engineers
• Volume: 9
• Issue: 3
• Pages: 241-254
• DOI: https://doi.org/10.1109/tcds.2016.2574624
• Public URL: https://durham-repository.worktribe.com/output/1203872