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3 June 2013 Structure from motion in computationally constrained systems
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Visual sensing is an attractive method to allow small, palm-sized flying vehicles to navigate complex environments without collisions. Visual processing for unmanned vehicles, however, is typically computationally intense. Insects are able to extract structural information about the environment by appropriate control of self-motion and efficient processing of the visual field. This paper presents a methodology that attempts to capture the insect’s ability to do this by constructing a nonlinear observer with provable stability via a Lyapunov analysis. Furthermore, the persistency of excitation condition for the observer illustrates the need for a zig-zagging flight style exhibited by certain insects.
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Joseph Conroy and J. Sean Humbert "Structure from motion in computationally constrained systems", Proc. SPIE 8725, Micro- and Nanotechnology Sensors, Systems, and Applications V, 87251G (3 June 2013);

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