Real-Time Visual Rotational Velocity Estimation Using a Biologically-Inspired Algorithm on Embedded Hardware

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Vision is a potent source of information, not just for humans, but for robots as well. Processing visual information is a computationally expensive task, one that is often difficult to accomplish in real-time on embedded hardware. In the broad field of visual research exists egomotion estimation, the process of determining self-motion from optical flow. Here we show a technological adaptation and implementation of a complex, biologically-inspired egomotion estimator that has previously only been simulated. Through efficient biologically-inspired signal conditioning and motion estimation techniques, rotational velocity estimations have been achieved at 100 frames per second on embedded hardware within an operating range of 2.7°/s to 72.1°/s with comparable accuracy to traditional sensors. These findings open the possibilities for egomotion estimation on embedded platforms which could be used to complement existing rotational velocity estimators under complex environmental conditions.

Original languageEnglish
Title of host publicationDICTA 2017 - 2017 International Conference on Digital Image Computing
Subtitle of host publicationTechniques and Applications
EditorsYi Guo, Hongdong Li, Weidong Tom Cai, Manzur Murshed, Zhiyong Wang, Junbin Gao, David Dagan Feng
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9781538628393
DOIs
Publication statusPublished - 19 Dec 2017
Externally publishedYes
Event2017 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2017 - Sydney, Australia
Duration: 29 Nov 20171 Dec 2017

Publication series

NameDICTA 2017 - 2017 International Conference on Digital Image Computing: Techniques and Applications
Volume2017-December

Conference

Conference2017 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2017
CountryAustralia
CitySydney
Period29/11/171/12/17

Keywords

  • real-time
  • Embedded hardware
  • Biologically inspired
  • algorithms
  • Rotational velocity

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