Visual Confined-Space Navigation Using an Efficient Learned Bilinear Optic Flow Approximation for Insect-scale Robots
Zhitao Yu,Gioele Zardini,Andrea Censi,Sawyer Fuller,Zhitao Yu,Gioele Zardini,Andrea Censi,Sawyer Fuller
Visual navigation for insect-scale robots is very challenging because in such a small scale, the size, weight, and power (SWaP) constraints do not appear to permit visual navigation techniques such as SLAM (Simultaneous Localization and Mapping) because they are likely to be too power-hungry. We propose to use a biology-inspired approach, which we term the bilinear optic flow approximation, that i...
