Bio-inspired visual ego-rotation sensor for MAVs

Lade...
Vorschaubild
Dateien
Plett_2-3j8bt0c29yqc0.pdf
Plett_2-3j8bt0c29yqc0.pdfGröße: 1013.74 KBDownloads: 95
Datum
2012
Autor:innen
Plett, Johannes
Buss, Martin
Kühnlenz, Kolja
Borst, Alexander
Herausgeber:innen
Kontakt
ISSN der Zeitschrift
Electronic ISSN
ISBN
Bibliografische Daten
Verlag
Schriftenreihe
Auflagebezeichnung
ArXiv-ID
Internationale Patentnummer
Angaben zur Forschungsförderung
Projekt
Open Access-Veröffentlichung
Open Access Hybrid
Sammlungen
Core Facility der Universität Konstanz
Gesperrt bis
Titel in einer weiteren Sprache
Publikationstyp
Zeitschriftenartikel
Publikationsstatus
Published
Erschienen in
Biological Cybernetics. Springer. 2012, 106(1), pp. 51-63. ISSN 0340-1200. eISSN 1432-0770. Available under: doi: 10.1007/s00422-012-0478-6
Zusammenfassung

Flies are capable of extraordinary flight maneuvers at very high speeds largely due to their highly elaborate visual system. In this work we present a fly-inspired FPGA based sensor system able to visually sense rotations around different body axes, for use on board micro aerial vehicles (MAVs). Rotation sensing is performed analogously to the fly's VS cell network using zero-crossing detection. An additional key feature of our system is the ease of adding new functionalities akin to the different tasks attributed to the fly's lobula plate tangential cell network, such as object avoidance or collision detection. Our implementation consists of a modified eneo SC-MVC01 SmartCam module and a custom built circuit board, weighing less than 200 g and consuming less than 4 W while featuring 57,600 individual two-dimensional elementary motion detectors, a 185° field of view and a frame rate of 350 frames per second. This makes our sensor system compact in terms of size, weight and power requirements for easy incorporation into MAV platforms, while autonomously performing all sensing and processing on-board and in real time.

Zusammenfassung in einer weiteren Sprache
Fachgebiet (DDC)
570 Biowissenschaften, Biologie
Schlagwörter
Konferenz
Rezension
undefined / . - undefined, undefined
Forschungsvorhaben
Organisationseinheiten
Zeitschriftenheft
Datensätze
Zitieren
ISO 690PLETT, Johannes, Armin BAHL, Martin BUSS, Kolja KÜHNLENZ, Alexander BORST, 2012. Bio-inspired visual ego-rotation sensor for MAVs. In: Biological Cybernetics. Springer. 2012, 106(1), pp. 51-63. ISSN 0340-1200. eISSN 1432-0770. Available under: doi: 10.1007/s00422-012-0478-6
BibTex
@article{Plett2012-01Bioin-53722,
  year={2012},
  doi={10.1007/s00422-012-0478-6},
  title={Bio-inspired visual ego-rotation sensor for MAVs},
  number={1},
  volume={106},
  issn={0340-1200},
  journal={Biological Cybernetics},
  pages={51--63},
  author={Plett, Johannes and Bahl, Armin and Buss, Martin and Kühnlenz, Kolja and Borst, Alexander}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/53722">
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2021-05-20T08:57:29Z</dc:date>
    <dc:contributor>Bahl, Armin</dc:contributor>
    <dc:creator>Kühnlenz, Kolja</dc:creator>
    <dcterms:issued>2012-01</dcterms:issued>
    <dc:creator>Bahl, Armin</dc:creator>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2021-05-20T08:57:29Z</dcterms:available>
    <dc:contributor>Kühnlenz, Kolja</dc:contributor>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/53722"/>
    <dc:rights>terms-of-use</dc:rights>
    <dc:creator>Borst, Alexander</dc:creator>
    <dc:creator>Plett, Johannes</dc:creator>
    <dc:language>eng</dc:language>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/28"/>
    <dcterms:hasPart rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/53722/1/Plett_2-3j8bt0c29yqc0.pdf"/>
    <dcterms:title>Bio-inspired visual ego-rotation sensor for MAVs</dcterms:title>
    <dc:contributor>Plett, Johannes</dc:contributor>
    <dcterms:abstract xml:lang="eng">Flies are capable of extraordinary flight maneuvers at very high speeds largely due to their highly elaborate visual system. In this work we present a fly-inspired FPGA based sensor system able to visually sense rotations around different body axes, for use on board micro aerial vehicles (MAVs). Rotation sensing is performed analogously to the fly's VS cell network using zero-crossing detection. An additional key feature of our system is the ease of adding new functionalities akin to the different tasks attributed to the fly's lobula plate tangential cell network, such as object avoidance or collision detection. Our implementation consists of a modified eneo SC-MVC01 SmartCam module and a custom built circuit board, weighing less than 200 g and consuming less than 4 W while featuring 57,600 individual two-dimensional elementary motion detectors, a 185° field of view and a frame rate of 350 frames per second. This makes our sensor system compact in terms of size, weight and power requirements for easy incorporation into MAV platforms, while autonomously performing all sensing and processing on-board and in real time.</dcterms:abstract>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/28"/>
    <dspace:hasBitstream rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/53722/1/Plett_2-3j8bt0c29yqc0.pdf"/>
    <dc:contributor>Borst, Alexander</dc:contributor>
    <dc:creator>Buss, Martin</dc:creator>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dc:contributor>Buss, Martin</dc:contributor>
  </rdf:Description>
</rdf:RDF>
Interner Vermerk
xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter
Kontakt
URL der Originalveröffentl.
Prüfdatum der URL
Prüfungsdatum der Dissertation
Finanzierungsart
Kommentar zur Publikation
Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Nein
Begutachtet
Ja
Diese Publikation teilen