Insect inspired vision for micro aerial vehicle navigation

This paper describes a generic platform for vision based navigation which is partially inspired by the biological principles that underlie insect vision and navigation. The system developed uses a CMOS sensor that is directly interfaced with a Field Programmable Gate Array (FPGA), to calculate an optical flow field in real time, and control an unmanned vehicle. The imaging system also provides useful information about the vehicle‟s surroundings, enabling the construction of terrain maps