AMU - Aix Marseille Université (Aix-Marseille Université
Jardins du Pharo
58 Boulevard Charles Livon
13284 Marseille cedex 7 - France)
Abstract : In this study, a quasi-panoramic bio-inspired eye dedicated to optic flow measurement on board micro flying robots is presented. It will allow future micro flying robots to mimic honeybees' navigational tasks which work without any metric sensors. An innovative optic flow-based algorithm was tested in the horizontal plane to measure the robot's incidence angle when travelling along a wall. Experimental results achieved while using a moving texture showed that our algorithm is able to measure the local visual heading with respect to a tapered wall with an error of 3 • and an accuracy of 3 • on average. Our bio-inspired eye will be implemented in the near future on board a micro quadrotor to " sense and avoid " obstacles in a GPS-denied environment.
https://hal-amu.archives-ouvertes.fr/hal-01629291 Contributor : Julien R SerresConnect in order to contact the contributor Submitted on : Tuesday, November 7, 2017 - 11:34:04 AM Last modification on : Wednesday, November 3, 2021 - 4:45:14 AM Long-term archiving on: : Thursday, February 8, 2018 - 12:14:01 PM
Erik Vanhoutte, Julien Serres, Franck Ruffier. A Quasi-panoramic Bio-inspired Eye for Flying Parallel to Walls. IEEE Sensors 2017, Oct 2017, Glasgow, United Kingdom. paper ID 1332, ⟨10.1109/ICSENS.2017.8234110⟩. ⟨hal-01629291⟩