A Bio-inspired Embedded Vision System for Autonomous Micro-robots: the LGMD Case

Cheng Hu, Farshad Arvin, Caihua Xiong,, Shigang Yue

    Research output: Contribution to journalArticlepeer-review


    In this paper, we present a new bio-inspired vision system embedded for micro-robots. The vision system takes inspiration from locusts in detecting fast approaching objects. Neurophysiological research suggested that locusts use a wide-field visual neuron called lobula giant movement detector (LGMD) to respond to imminent collisions. In this work, we present the implementation of the selected neuron model by a low-cost ARM processor as part of a composite vision module. As the first embedded LGMD vision module fits to a micro-robot, the developed system performs all image acquisition and processing independently. The vision module is placed on top of a microrobot to initiate obstacle avoidance behaviour autonomously. Both simulation and real-world experiments were carried out to test the reliability and robustness of the vision system. The results of the experiments with different scenarios demonstrated the potential of the bio-inspired vision system as a low-cost embedded module for autonomous robots.
    Original languageEnglish
    Pages (from-to)241-254
    JournalIEEE Transactions on Autonomous Mental Development
    Issue number3
    Publication statusPublished - 30 May 2016


    • Autonomous robot
    • bioinspired
    • collision avoidance
    • embedded system
    • lobula giant movement detector (LGMD)
    • low-cost


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