Köhler T, Röchter F, Lindemann J P, Möller R
Faculty of Technology, Computer Engineering Group, Bielefeld University, Bielefeld, Germany.
Bioinspir Biomim. 2009 Mar;4(1):015008. doi: 10.1088/1748-3182/4/1/015008. Epub 2009 Mar 4.
Flying insects, despite their relatively coarse vision and tiny nervous system, are capable of carrying out elegant and fast aerial manoeuvres. Studies of the fly visual system have shown that this is accomplished by the integration of signals from a large number of elementary motion detectors (EMDs) in just a few global flow detector cells. We developed an FPGA-based smart camera module with more than 10,000 single EMDs, which is closely modelled after insect motion-detection circuits with respect to overall architecture, resolution and inter-receptor spacing. Input to the EMD array is provided by a CMOS camera with a high frame rate. Designed as an adaptable solution for different engineering applications and as a testbed for biological models, the EMD detector type and parameters such as the EMD time constants, the motion-detection directions and the angle between correlated receptors are reconfigurable online. This allows a flexible and simultaneous detection of complex motion fields such as translation, rotation and looming, such that various tasks, e.g., obstacle avoidance, height/distance control or speed regulation can be performed by the same compact device.
飞行昆虫尽管视觉相对粗糙且神经系统微小，却能够进行优雅而快速的空中机动。对苍蝇视觉系统的研究表明，这是通过在仅几个全局流探测器细胞中整合来自大量基本运动探测器（EMD）的信号来实现的。我们开发了一种基于现场可编程门阵列（FPGA）的智能相机模块，其中包含一万多个单个EMD，在整体架构、分辨率和感受器间距方面紧密模仿昆虫运动检测电路。EMD阵列的输入由具有高帧率的互补金属氧化物半导体（CMOS）相机提供。作为针对不同工程应用的适应性解决方案以及生物模型的测试平台进行设计，EMD探测器类型和诸如EMD时间常数、运动检测方向以及相关感受器之间的角度等参数可在线重新配置。这允许灵活且同时检测复杂的运动场，如平移、旋转和逼近，从而使同一紧凑设备能够执行各种任务，例如避障、高度/距离控制或速度调节。
