Characterisation of insect vision based collision avoidance models using a video camera

Abstract

Insects have very efficient vision algorithms that allow them to perform complex manoeuvres in real time, while using a very limited processing power. In this paper we study some of the properties of these algorithms with the aim of implementing them in microchip devices. To achieve this we simulate insect vision using our software, which utilises the Horridge Template Model, to detect the angular velocity of a moving object. The motion is simulated using a number of rotating images showing both artificial constructs and real life scenes and is captured with a CMOS camera. We investigate the effects of texel density, contrast, luminance and chrominance properties of the moving images. Pre and post template filtering and different threshold settings are used to improve the accuracy of the estimated angular velocity. We then further analyse and compare the results obtained. We will then implement an efficient velocity estimation algorithm that produces reliable results. Lastly, we will also look into developing the estimation of time to impact algorithm.