Meyer_etal_AuthorVersion.pdf (1.75 MB)
Snapshot navigation in the wavelet domain
conference contribution
posted on 2023-06-09, 23:05 authored by Stefan MeyerStefan Meyer, Thomas NowotnyThomas Nowotny, Paul GrahamPaul Graham, Alex Dewar, Andy PhilippidesAndy PhilippidesMany animals rely on robust visual navigation which can be explained by snapshot models, where an agent is assumed to store egocentric panoramic images and subsequently use them to recover a heading by comparing current views to the stored snapshots. Long-range route navigation can also be explained by such models, by storing multiple snapshots along a training route and comparing the current image to these. For such models, memory capacity and comparison time increase dramatically with route length, rendering them unfeasible for small-brained insects and low-power robots where computation and storage are limited. One way to reduce the requirements is to use a compressed image representation. Inspired by the filter bank-like arrangement of the visual system, we here investigate how a frequency-based image representation influences the performance of a typical snapshot model. By decomposing views into wavelet coefficients at different levels and orientations, we achieve a compressed visual representation that remains robust when used for navigation. Our results indicate that route following based on wavelet coefficients is not only possible but gives increased performance over a range of other models.
Funding
Brains on Board: Neuromorphic Control of Flying Robots; G1980; EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCIL; EP/P006094/1
History
Publication status
- Published
File Version
- Accepted version
Journal
Biomimetic and Biohybrid SystemsISSN
0302-9743Publisher
Springer NatureExternal DOI
Volume
12413Page range
245-256Event name
Living Machines 2020Event location
Freiburg, GermanyEvent type
conferenceEvent date
28-30 July 2020Place of publication
ChamISBN
9783030643126Series
Lecture Notes in Computer Science book seriesDepartment affiliated with
- Informatics Publications
Research groups affiliated with
- Centre for Computational Neuroscience and Robotics Publications
Full text available
- Yes
Peer reviewed?
- Yes
Editors
Anna Mura, Tony J Prescott, Vasiliki Vouloutsi, Thomas Speck, Falk Tauber, Paul F M J VerschureLegacy Posted Date
2021-02-16First Open Access (FOA) Date
2021-12-24First Compliant Deposit (FCD) Date
2021-02-16Usage metrics
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