Vision chip for navigating and controlling Micro Unmanned Aerial Vehicles

Baxter, Christopher R.; Curzan, J. P.; McCarley, Paul L.; Etienne‐Cummings, Ralph

doi:10.1109/iscas.2003.1205137

“…Massie [81] presented a combination imager and motion estimation chip for roll, pitch, and yaw estimation. The chip consists of 12 linear 90 pixel arrays (2 for yaw, 2 for pitch, and 8 for roll) relying on the token based FS method.…”

Section: B Correlation Methodsmentioning

confidence: 99%

Bioinspired Visual Motion Estimation

Orchard,

Etienne-Cummings

2015

Preprint

0

View full text Add to dashboard Cite

Visual motion estimation is a computationally intensive, but important task for sighted animals. Replicating the robustness and efficiency of biological visual motion estimation in artificial systems would significantly enhance the capabilities of future robotic agents. 25 years ago, in this very journal, Carver Mead outlined his argument for replicating biological processing in silicon circuits. His vision served as the foundation for the field of neuromorphic engineering, which has experienced a rapid growth in interest over recent years as the ideas and technologies mature. Replicating biological visual sensing was one of the first tasks attempted in the neuromorphic field. In this paper we focus specifically on the task of visual motion estimation. We describe the task itself, present the progression of works from the early first attempts through to the modern day state-of-the-art, and provide an outlook for future directions in the field.

show abstract

“…Massie et al [81] presented a combination imager and motion estimation chip for roll, pitch, and yaw estimation. The chip consists of 12 linear 90 pixel arrays (2 for yaw, 2 for pitch, and 8 for roll) relying on the token-based FS method.…”

Section: ) Block Matchingmentioning

confidence: 99%

Bioinspired Visual Motion Estimation

Orchard

¹

,

Etienne‐Cummings

²

2014

View full text Add to dashboard Cite

Visual motion estimation is a computationally intensive, but important task for sighted animals. Replicating the robustness and efficiency of biological visual motion estimation in artificial systems would significantly enhance the capabilities of future robotic agents. 25 years ago, in this very journal, Carver Mead outlined his argument for replicating biological processing in silicon circuits. His vision served as the foundation for the field of neuromorphic engineering, which has experienced a rapid growth in interest over recent years as the ideas and technologies mature. Replicating biological visual sensing was one of the first tasks attempted in the neuromorphic field. In this paper we focus specifically on the task of visual motion estimation. We describe the task itself, present the progression of works from the early first attempts through to the modern day state-of-the-art, and provide an outlook for future directions in the field.Comment: 16 pages, 11 figures, 1 tabl

show abstract

“…If, instead of , we use some sigmoidal activation function (whose range is 0-1, with ), each pixel output class can described by (2) If represents the desired class output (0 or 1) for a given pixel, we can define a cost function (3) and solve for an update rule for each component of the horizon vector (4) (5) where is the learning rate and (6) Since will always be positive and represents the sign and degree of the mismatch, we approximate this by setting equal to , keeping our effective step size small to avoid overestimating . The learning rate must be kept small to avoid large oscillations around the solution but must be large enough to find solutions rapidly.…”

Section: B Finding the Best Horizon Vectormentioning

confidence: 99%

A Low-Power Visual-Horizon Estimation Chip

Horiuchi

¹

2009

IEEE Trans. Circuits Syst. I

View full text Add to dashboard Cite

Abstract-Recent successes in the construction of micro aerial vehicles ( 15 cm) have highlighted the lack of real-time sensors for flight control. This paper describes a low-power real-time visual-horizon sensor for stabilizing the pitch and roll of miniature aircraft in moderate-to-high-altitude flight. This prototype sensor uses a 12 12 photoreceptor array to find a best-fit horizon line based on image intensity. The sensor includes a "confidence-level" output for signaling poor sensing conditions and can scan out the image. The chip was fabricated in a commercially available 0.5-m CMOS process and operates on less than 2.5 mW with a 5-V power supply.

show abstract

Vision chip for navigating and controlling Micro Unmanned Aerial Vehicles

Cited by 13 publications

References 2 publications

Bioinspired Visual Motion Estimation

Bioinspired Visual Motion Estimation

Bioinspired Visual Motion Estimation

A Low-Power Visual-Horizon Estimation Chip

Contact Info

Product

Resources

About