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A Furcated Visual Collision Avoidance System for an Autonomous Micro Robot

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Figure

Fig. 1. Schematic illustration of Furcated Luminance-Difference Processing(FLDP) model
Fig. 2. Input data representation. (a) Schematic illustration of a sample inputdata that consists of a sequence of image frames denoted bycontained pixels in the input frame, i being the original pixel intensity for thesample point
Fig. 3.Schematic illustration of furcation process, where the input imageframes are dissected to form individual image frames (four in this case) eachrepresenting one section of the robot’s field of view namely, upper-left (UL),upper-right (UR), lower-left (LL), and lower-right (LR).
Fig. 5. Model response to evaluate edge detection capability. (a) represents1st, 30th and 60th image frames extracted from the column detection movie(90fps), respectively
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