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Proceedings Paper

Structure from motion in computationally constrained systems
Author(s): Joseph Conroy; J. Sean Humbert
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Paper Abstract

Visual sensing is an attractive method to allow small, palm-sized flying vehicles to navigate complex environments without collisions. Visual processing for unmanned vehicles, however, is typically computationally intense. Insects are able to extract structural information about the environment by appropriate control of self-motion and efficient processing of the visual field. This paper presents a methodology that attempts to capture the insect’s ability to do this by constructing a nonlinear observer with provable stability via a Lyapunov analysis. Furthermore, the persistency of excitation condition for the observer illustrates the need for a zig-zagging flight style exhibited by certain insects.

Paper Details

Date Published: 3 June 2013
PDF: 12 pages
Proc. SPIE 8725, Micro- and Nanotechnology Sensors, Systems, and Applications V, 87251G (3 June 2013); doi: 10.1117/12.2015296
Show Author Affiliations
Joseph Conroy, U.S. Army Research Lab. (United States)
J. Sean Humbert, Univ. of Maryland, College Park (United States)

Published in SPIE Proceedings Vol. 8725:
Micro- and Nanotechnology Sensors, Systems, and Applications V
Thomas George; M. Saif Islam; Achyut K. Dutta, Editor(s)

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