Snapshot navigation in the wavelet domain

Meyer, Stefan, Nowotny, Thomas, Graham, Paul, Dewar, Alex and Philippides, Andrew (2020) Snapshot navigation in the wavelet domain. Living Machines 2020, Freiburg, Germany, 28-30 July 2020. Published in: Vouloutsi, Vasiliki, Mura, Anna, Tauber, Falk, Speck, Thomas, Prescott, Tony J and Verschure, Paul F M J, (eds.) Biomimetic and Biohybrid Systems. 12413 245-256. Springer Nature, Cham. ISSN 0302-9743 ISBN 9783030643126

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Many 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.

Item Type: Conference Proceedings
Keywords: Insect Navigation, Visual Homing, Wavelet
Schools and Departments: School of Engineering and Informatics > Informatics
School of Life Sciences > Evolution, Behaviour and Environment
Research Centres and Groups: Centre for Computational Neuroscience and Robotics
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SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 16 Feb 2021 08:41
Last Modified: 25 Feb 2022 14:05

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Brains on Board: Neuromorphic Control of Flying RobotsG1980EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCILEP/P006094/1