Determining range information from self-motion: the template model

Peter J. Sobey

doi:10.1117/12.25204

1 February 1991 Determining range information from self-motion: the template model

Peter J. Sobey

Proceedings Volume 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods; (1991) https://doi.org/10.1117/12.25204
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Insects use a relatively simple visual system to navigate and avoid obstacles. In particular they use self motion to determine the range to objects by the angular velocities of the contrasts across the retina array. Adopting principles learnt from studying insect behaviour and neurophysiology we have modelled aspects of the motion detection mechanism of an insect visual system into a means of categorising edges and computing their motion and thus determining range. Copying insect motion perception a camera is scanned across a scene and a temporal sequence of line images captured. The 8-bit grey scale image is immediately reduced to a 1og23 1. 6 bit image by saturating the contrast. Behind each pixel one state is formed by increasing intensity one by decreasing intensity and a third is indeterminate. Pairs of receptors at two consecutive times forming a 2 by 2 template in space-time give a finite number of combinations of which it is found that only a small subset provide useful motion information. Combinations of selected templates results in a distribution of template responses that is amenable to analysis by the Hough transform. Running the model on real scenes reveals the value of lateral inhibition as well as insights into the effect of different edge types and the use of parallax. The model suggests a possible new neurophysiological construction that can be copied in hardware to provide a fast means inferring 3-d structure in a scene where the observer is moving with a known velocity. 1.

Citation Download Citation

Peter J. Sobey "Determining range information from self-motion: the template model", Proc. SPIE 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods, (1 February 1991); https://doi.org/10.1117/12.25204

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available