Abstract
In this study, a tiny artificial compound eye (diameter 15mm) named CurvACE (which stands for Curved Artificial Compound Eye), was endowed with hyperacuity, based on an active visual process inspired by the retinal micro-movements occurring in the fly’s compound eye. A periodic (1-D, 50-Hz) micro-scanning movement with a range of a few degrees (\(5^\circ \)) enables the active CurvACE to locate contrasting objects with a 40-fold greater accuracy which was restricted by the narrow interommatidial angle of about \(4.2^\circ \). This local hyperacuity was extended to a large number of adjacent ommatidia in a novel visual processing algorithm, which merges the output signals of the local processing units running in parallel on a tiny, cheap micro-controller requiring very few computational resources. Tests performed in a textured (indoor) or natural (outdoor) environment showed that the active compound eye serves as a contactless angular position sensing device, which is able to assess its angular position relative to the visual environment. As a consequence, the vibrating compound eye is able to measure very low rotational optic flow up to \( 20^\circ /s \) and perform a short range odometry knowing the altitude, which are two tasks of great interest for robotic applications.
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Colonnier, F., Manecy, A., Juston, R., Viollet, S. (2015). Visual Odometry and Low Optic Flow Measurement by Means of a Vibrating Artificial Compound Eye. In: Wilson, S., Verschure, P., Mura, A., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2015. Lecture Notes in Computer Science(), vol 9222. Springer, Cham. https://doi.org/10.1007/978-3-319-22979-9_16
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DOI: https://doi.org/10.1007/978-3-319-22979-9_16
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