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UID:5698@i2m.univ-amu.fr
DTSTART;TZID=Europe/Paris:20230316T140000
DTEND;TZID=Europe/Paris:20230316T150000
DTSTAMP:20241120T200150Z
URL:https://www.i2m.univ-amu.fr/evenements/robotic-models-for-the-honeybee
 -visual-odometer/
SUMMARY:Lucia Bergantin (ISM\, Aix-Marseille Université): Robotic models f
 or the honeybee visual odometer
DESCRIPTION:Lucia Bergantin: In the hive\, foraging honeybees inform their 
 nestmates about the «location» of a food source by performing a waggle d
 ance\, which carries knowledge about the direction and «distance» to tra
 vel. Previous studies have suggested that the odometer (serving as a dista
 nce-meter) of flying honeybees assesses distance by mathematically integra
 ting the raw angular velocity of the image sweeping backwards across their
  ventral viewfield\, which is known as the translational optic flow. In ae
 rial robotic applications\, performing visual odometry onboard micro- and 
 nano-drones is a particularly challenging task due to the low computationa
 l and perception resources available. Several winged insects\, such as bee
 s and butterflies\, oscillate up and down while flying forward\, adding an
  expansion and contraction component to their ventral optic flow vector fi
 eld: this is the optic flow divergence. The question arises as to how raw 
 integration of the optic flow (expressed in rad/s) could reliably encode a
  distance\, since optic flow depends on the ground speed and the ground he
 ight. In this thesis\, a model for the honeybee visual odometer\, called S
 OFIa\, is presented. The current ground height is estimated solely by mean
 s of an Extended Kalman Filter (EKF) and the optic flow divergence generat
 ed by the oscillating trajectory. The ground height estimate scales the tr
 anslational optic flow\, which is then mathematically integrated to obtain
  the distance travelled. By measuring the translational and divergence opt
 ic flow cues with optic flow sensors\, the SOFIa visual odometer could be 
 tested onboard a hexarotor both indoors and outdoors. A second model for t
 he visual odometer (called SuRf) was also developed and tested in simulati
 on. The SuRf visual odometer is also based on the scaling of the translati
 onal optic flow\, but in this case\, the optic flow taken into account is 
 always perceived perpendicularly to the surface below. For this purpose\, 
 an active reorientation process was added so as to always keep the visual 
 plane parallel to the ground below. The SuRf model improved the odometric 
 performances obtained over uneven terrain in comparison with those of the 
 raw SOFIa model. Modelling of the honeybee visual odometer using biologica
 lly plausible vision is therefore of great interest for two main reasons: 
 (i) shed new light on the neuro-ethological processes at work in winged in
 sects\, and (ii) open the way to providing micro flying robots with minima
 listic visual odometric equipment and abilities.\nhttps://www.researchgate
 .net/profile/Lucia-Bergantin-2\n[su_spacer size="10"]\n\n\nIOSSB Seminar\n
 &nbsp\;
ATTACH;FMTTYPE=image/jpeg:https://www.i2m.univ-amu.fr/wp-content/uploads/2
 023/02/Lucia_Bergantin.png
CATEGORIES:Interdisciplinary online seminar series on Biolocomotion
LOCATION:Virtual event\, visioconférence\, virtual\, France
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