By Thanh Mung Lam (Editor)
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Additional resources for Aerial Vehicles (2009)
Even though this solution somehow complicates the design (due to the mixing of VHDL description and System Generator IP blocks), it has the advantage to minimize the number of logical gates necessary for integration in the FPGA. Once the filtering process is completed, the delay Δt between the excitations of two neighboring photoreceptors starts being measured. A comparator determines the instant at which the band-pass filtered signal from each photoreceptor channel reaches the threshold value.
The feedback control loop aims at maintaining the OF measured constant and equal to an optic flow set point Figure 2. Several optic flow sensors covering various, strategic fields of view for an insectlike visual guidance of Micro-Air Vehicles (MAV) In addition to visuo-motor control loops, inner control loops are necessary (i) to lock the micro-aircraft in certain desired attitudes, and (ii) to improve the control performances and robustness. , 2008) Field Programmable Gate Array (FPGA) for Bio-inspired visuo-motor control systems applied to Micro-Air Vehicles 31 (ii) Control speed and accuracy can be improved with advanced actuators and more classical control loops based on proprioceptive sensors.
Figure 15. Original image from left camera (left), depth image (center) and extracted occupancy grid (right) Figure 16. Prism shapes calculated from occupancy grid of figure 15 with different similarity thresholds for shape slice merging: zero (left), 100 (center) and infinite (right) As shown in the image, the first arch is mapped while the second arch in the background is filtered due to its far distance from the viewpoint. The subfigures include the occupancy 26 Aerial Vehicles grid map (fig.
Aerial Vehicles (2009) by Thanh Mung Lam (Editor)