Visual Flight Control of a Quadrotor Using Bioinspired Motion Detector
Figure 1
The simple Reichardt motion detector (a) and the elaborated EMD model (b). A and B are two visual signal inputs. The moving luminance signal is observed by this pair of visual sensors (such as the ommatidia of a fruit fly). The detector compares visual sensor inputs and generates a direction sensitive response corresponding to the visual motion. D: delay block. Here it refers to low-pass filter; HP: High-pass filter; M: multiplication.
