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  Optimal linear estimation of self-motion - a real-world test of a model of fly tangential neurons

Franz, M. (2002). Optimal linear estimation of self-motion - a real-world test of a model of fly tangential neurons. Poster presented at 7th Meeting of the International Society for Simulation of Adaptive Behaviour (SAB 2002) Workshop: Robotics as Theoretical Biology, Edinburgh, UK.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-E125-D Version Permalink: http://hdl.handle.net/21.11116/0000-0005-97CB-C
Genre: Poster

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Franz, MO1, 2, Author              
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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 (see example in Fig.1). 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 optimal linear estimator incorporating prior knowledge both about the distance distribution of the environment, and about the noise and self-motion statistics of the sensor. The optimal estimator is tested on a gantry carrying an omnidirectional vision sensor that can be moved along three translational and one rotational degree of freedom. The experiments indicate that the proposed approach yields accurate results for rotation estimates, independently of the current translation and scene layout. Translation estimates, however, turned out to be sensitive to simultaneous rotation and to the particular distance distribution of the scene. The gantry experiments confirm that the receptive field organization of the tangential neurons allows them, as an ensemble, to extract self-motion from the optic flow.

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 Dates: 2002-08
 Publication Status: Published online
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 Identifiers: BibTex Citekey: 1941
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Title: 7th Meeting of the International Society for Simulation of Adaptive Behaviour (SAB 2002) Workshop: Robotics as Theoretical Biology
Place of Event: Edinburgh, UK
Start-/End Date: 2002-08-10

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