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  Biologically motivated visual control of attitude and altitude in translatory flight

Neumann, T., & Bülthoff, H. (2000). Biologically motivated visual control of attitude and altitude in translatory flight. In G. Baratoff, & H. Neumann (Eds.), Dynamische Perzeption: Workshop der GI-Fachgruppe 1.0.4 Bildverstehen (pp. 135-140). Berlin, Germany: Akademische Verlags-Gesellschaft.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-E400-1 Version Permalink: http://hdl.handle.net/21.11116/0000-0005-B58E-F
Genre: Conference Paper

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 Creators:
Neumann, TR1, 2, Author              
Bülthoff, HH1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Flying insects use highly efficient visual strategies for stabilizing their motion in three-dimensional space. We present a flight control model that uses a combination of biologically inspired, visual feed-forward mechanisms for stabilizing attitude (i.e. pitch and roll angles) and altitude during translatory motion. The attitude sensor exploits the position invariant vertical intensity gradient that exists in most natural open environments to orient the upper surface of a flying agent towards the region of maximum brightness (dorsal light response). Altitude is controlled using distance information contained in the frontoventral translatory optic flow (motion parallax). Our results from open-loop computer simulations show that the signals produced by these mechanisms robustly indicate the direction of deviation from a certain attitude angle or ground distance. We argue that in a closed control loop, these qualitative signals can be sufficient for flight stabilization. We present closed-loop trajectories of a simulated agent equipped with both mechanisms, flying over a textured, uneven surface. The agent shows robust flight behavior with six degrees of freedom.

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 Dates: 2000-11
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: BibTex Citekey: 1207
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Title: 3. Workshop Dynamische Perzeption
Place of Event: Ulm, Germany
Start-/End Date: 2000-11-02 - 2000-11-03

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Title: Dynamische Perzeption: Workshop der GI-Fachgruppe 1.0.4 Bildverstehen
Source Genre: Proceedings
 Creator(s):
Baratoff, G, Editor
Neumann, H, Editor
Affiliations:
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Publ. Info: Berlin, Germany : Akademische Verlags-Gesellschaft
Pages: 242 Volume / Issue: - Sequence Number: - Start / End Page: 135 - 140 Identifier: ISBN: 3-89838-020-3