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DOI	10.1088/1748-3190/ac1307
	Looking down: a model for visual route following in flying insects
	Stankiewicz, J.; Webb, B.
通讯作者	Webb, B (corresponding author), Univ Edinburgh, Sch Informat, 10 Crichton St, Edinburgh EH8 9AB, Midlothian, Scotland.
来源期刊	BIOINSPIRATION & BIOMIMETICS
ISSN	1748-3182
EISSN	1748-3190
出版年	2021
卷号	16 期号:5
英文摘要	Insect visual navigation is often assumed to depend on panoramic views of the horizon, and how these change as the animal moves. However, it is known that honey bees can visually navigate in flat, open meadows where visual information at the horizon is minimal, or would remain relatively constant across a wide range of positions. In this paper we hypothesise that these animals can navigate using view memories of the ground. We find that in natural scenes, low resolution views from an aerial perspective of ostensibly self-similar terrain (e.g. within a field of grass) provide surprisingly robust descriptors of precise spatial locations. We propose a new visual route following approach that makes use of transverse oscillations to centre a flight path along a sequence of learned views of the ground. We deploy this model on an autonomous quadcopter and demonstrate that it provides robust performance in the real world on journeys of up to 30 m. The success of our method is contingent on a robust view matching process which can evaluate the familiarity of a view with a degree of translational invariance. We show that a previously developed wavelet based bandpass orientated filter approach fits these requirements well, exhibiting double the catchment area of standard approaches. Using a realistic simulation package, we evaluate the robustness of our approach to variations in heading direction and aircraft height between inbound and outbound journeys. We also demonstrate that our approach can operate using a vision system with a biologically relevant visual acuity and viewing direction.
英文关键词	insect navigation biorobotics visual route following UAV honey bee
类型	Article
语种	英语
收录类别	SCI-E
WOS记录号	WOS:000682785000001
WOS关键词	NATURAL ENVIRONMENTS ; RECEPTIVE-FIELDS ; RETURN FLIGHTS ; DESERT ANTS ; ORIENTATION ; NAVIGATION ; VIEW ; HONEYBEES ; STRATEGIES ; MEMORY
WOS类目	Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS研究方向	Engineering ; Materials Science ; Robotics
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/362698
作者单位	[Stankiewicz, J.; Webb, B.] Univ Edinburgh, Sch Informat, 10 Crichton St, Edinburgh EH8 9AB, Midlothian, Scotland
推荐引用方式 GB/T 7714	Stankiewicz, J.,Webb, B.. Looking down: a model for visual route following in flying insects[J],2021,16(5).
APA	Stankiewicz, J.,&Webb, B..(2021).Looking down: a model for visual route following in flying insects.BIOINSPIRATION & BIOMIMETICS,16(5).
MLA	Stankiewicz, J.,et al."Looking down: a model for visual route following in flying insects".BIOINSPIRATION & BIOMIMETICS 16.5(2021).