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  Linear Combinations of Optic Flow Vectors for Estimating Self-Motion: a Real-World Test of a Neural Model

Franz, M., & Chahl, J. (2003). Linear Combinations of Optic Flow Vectors for Estimating Self-Motion: a Real-World Test of a Neural Model. In S. Becker, S. Thrun, & K. Obermayer (Eds.), Advances in Neural Information Processing Systems 15 (pp. 1319-1326). Cambridge, MA, USA: MIT Press.

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 Creators:
Franz, MO1, 2, Author              
Chahl, JS, Author
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: The tangential neurons in the fly brain are sensitive to the typical optic flow patterns generated during self-motion. In this study, we examine whether a simplified linear model of these neurons can be used to estimate self-motion from the optic flow. We present a theory for the construction of an estimator consisting of a linear combination of optic flow vectors that incorporates prior knowledge both about the distance distribution of the environment, and about the noise and self-motion statistics of the sensor. The estimator is tested on a gantry carrying an omnidirectional vision sensor. The experiments show that the proposed approach leads to accurate and robust estimates of rotation rates, whereas translation estimates turn out to be less reliable.

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 Dates: 2003-09
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: BibTex Citekey: 1947
 Degree: -

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Title: Sixteenth Annual Conference on Neural Information Processing Systems (NIPS 2002)
Place of Event: Vancouver, BC, Canada
Start-/End Date: 2002-12-09 - 2002-12-14

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Title: Advances in Neural Information Processing Systems 15
Source Genre: Proceedings
 Creator(s):
Becker, S, Editor
Thrun, S, Editor
Obermayer, K, Editor
Affiliations:
-
Publ. Info: Cambridge, MA, USA : MIT Press
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1319 - 1326 Identifier: ISBN: 0-262-02550-7