Visual homing in insects and robots

Flying Insects and Robots

Volumn , Issue , 2010, Pages 87-100

  Zeil, Jochen ^a   Boeddeker, Norbert ^b   Stürzl, Wolfgang ^b  

^a AUSTRALIAN NATIONAL UNIVERSITY   (Australia)

^b BIELEFELD UNIVERSITY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 84895249002     PISSN: None     EISSN: None     Source Type: Book    
DOI: 10.1007/978-3-540-89393-6_7     Document Type: Chapter

References (76)

1. Baddeley, B., Philippides, A.: Improving agent localisation through stereotypical motion. In: F.A. de Costa, L.M. Rocha, E. Costa, I. Harvey, A. Coutinho (eds.) 9th European Conference on Artificial Life, LNAI, vol. 4648, pp. 335-344 (2007).
2. Becker, L.: Untersuchungen über das Heimfindevermögen der Bienen. Zeitschrift für Vergleichende Physiologie 41, 1-25 (1958).
3. Booij, O., Terwijn, B., Zivkovic, Z., Kröse, B.: Navigation using an appearance based topological map. In: S. Hutchinson (ed.) IEEE International Conference on Robotics and Automation, pp. 3927-3932 (2007).
4. Brünnert, U., Kelber, A., Zeil, J.: Ground-nesting bees determine the location of their nest relative to a landmark by other than angular size cues. Journal of Comparative Physiology A 175, 363-369 (1994).
5. Burschka, D., Hager, G.: V-GPS (SLAM): Vision-based inertial system for mobile robots. In: M. Meng (ed.) IEEE International Conference on Robotics and Automation, vol. 1, pp. 409-415 (2004).
6. Capaldi, E., Dyer, F.: The role of orientation flights on homing performance in honeybees. Journal of Experimental Biology 202, 1655-1666 (1999).
7. Capaldi, E.A., Smith, A.D., Osborne, J.L., Fahrbach, S.E., Farris, S.M., Reynolds, D.R., Edwards, A.S., Martin, A., Robinson, G.E., Poppy, G.M., Riley, J.R.: Ontogeny of orientation flight in the honeybee revealed by harmonic radar. Nature 403, 537-40 (2000).
8. Cartwright, B.A., Collett, T.S.: How honey-bees know their distance from a near-by visual landmark. Journal of Experimental Biology 82, 367-372 (1979).
9. Cartwright, B.A., Collett, T.S.: Landmark learning in bees. Journal of Comparative Physiology A 151, 521-543 (1983).
10. Cartwright, B.A., Collett, T.S.: Landmark maps for honeybees. Biological Cybernetics 57, 85-93 (1987).
11. Cheng, K., Collett, T.S., Pickhard, A., Wehner, R.: The use of visual landmarks by honeybees: Bees weight landmarks according to their distance from the goal. Journal of Comparative Physiology A 161, 469-475 (1987).
12. Cheng, K., Collett, T.S., Wehner, R.: Honeybees learn the colours of landmarks. Journal of Comparative Physiology A 159, 69-73 (1986).
13. Collett, T.S.: Making learning easy: The acquisition of visual information during the orientation flights of social wasps. Journal of Comparative Physiology A 177, 737-747 (1995).
14. Collett, T.S.: Insect navigation en route to the goal: multiple strategies for the use of landmarks. Journal of Experimental Biology 199, 227-235 (1996).
15. Collett, T.S., Graham, P., Harris, R.A., de Ibarra, N.H.: Navigational memories in ants and bees: Memory retrieval when selecting and following routes. Advances in the Study of Behavior 36, 123-172 (2006).
16. Collett, T.S., Land, M.F.: Visual spatial memory in a hoverfly. Journal of Comparative Physiology A 100, 59-84 (1975).
17. Collett, T.S., Lehrer, M.: Looking and learning: A spatial pattern in the orientation flight of the wasp Vespula vulgaris. Proceedings of the Royal Society London B 252, 129-134 (1993).
18. Collett, T.S., Zeil, J.: Places and landmarks: An arthropod perspective. In: S. Healy (ed.) Spatial representation in animals, pp. 18-53. Oxford University Press (1998).
19. Dale, K., Collett, T.S.: Using artificial evolution and selection to model insect navigation. Current Biology 11, 1305- 1316 (2001).
20. Davison, A.J., Murray, D.W.: Simultaneous localization and map-building using active vision. IEEE Transactions on Pattern Analysis and Machine Intelligence 24, 865-880 (2002).
21. Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: Monoslam: Real-time single camera slam. Pattern Analysis and Machine Intelligence, IEEE Transactions on Pattern Analysis and Machine Intelligence 29, 1052-1067 (2007).
22. Dyer, A.G., Rosa, M.G.P., Reser, D.H.: Honeybees can recognise images of complex natural scenes for use as potential landmarks. Journal of Experimental Biology 211, 1180-1186 (2008).
23. Franz, M.O., Schölkopf, B., Mallot, H.A., Bülthoff, H.H.: Learning view graphs for robot navigation. Autonomous Robots 5, 111-125 (1998).
24. Franz, M.O., Schölkopf, B., Mallot, H.A., Bülthoff, H.H.: Where did I take that snapshot? Scene-based homing by image matching. Biological Cybernetics 79, 191-202 (1998).
25. Frier, H., Edwards, E., Smith, C., Neale, S., Collett, T.: Magnetic compass cues and visual pattern learning in honeybees. Journal of Experimental Biology 199, 1353-1361 (1996).
26. Gillner, S., Mallot, H.A.: These maps are made for walking task hierarchy of spatial cognition. In: M. Jefferies, W.K. Yeap (eds.) Robotics and Cognitive Approaches to Spatial Mapping (Tracts in Advanced Robotics), pp. 181-201. Springer (2008).
27. Goedemé, T., Nuttin, M., Tuytelaars, T., Gool, L.V.: Omnidirectional vision based topological navigation. International Journal of Computer Vision 74, 219-236 (2007).
28. Graham, P., Fauria, K., Collett, T.S.: The influence of beacon-aiming on the routes of wood ants. Journal of Experimental Biology 206, 535-541 (2003).
29. Haralick, B.M., Lee, C.N., Ottenberg, K., Nölle, M.: Review and analysis of solutions of the three point perspective pose estimation problem. International Journal of Computer Vision 13, 331-356 (1994).
30. van Hateren, J.H., Srinivasan, M.V., Wait, P.B.: Pattern recognition in bees: orientation discrimination. Journal of Comparative Physiology A 167, 649-654 (1990).
31. Homberg, U.: In search of the sky compass in the insect brain. Naturwissenschaften 91, 199-208 (2004).
32. Horn, B.K.P.: Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America A 4, 629 (1987).
33. Horridge, A.: Visual processing of pattern. In: E. Warrant, D.E. Nilsson (eds.) Invertebrate Vision, pp. 494-525. Cambridge University Press (2006).
34. Hübner, W., Mallot, H.A.: Metric embedding of viewgraphs. Autonomous Robots 23, 183-196 (2007).
35. van Iersel, J.J.A., van den Assem, J.: Aspects of orientation in the digger wasp Bembix rostrata. Animal Behaviour Suppl 1, 145-162 (1964).
36. Judd, S.P.D., Collett, T.S.: Multiple stored views and landmark guidance in ants. Nature 392, 710-714 (1998).
37. Kelber, A.: Invertebrate colour vision. In: E. Warrant, D.E. Nilsson (eds.) Invertebrate Vision, pp. 250-290. Cambridge University Press (2006).
38. Kelber, A., Zeil, J.: A robust procedure for visual stabilisation of hovering flight position in guard bees of Trigona (Tetragonisca) angustula (Apidae, Meliponinae). Journal of Comparative Physiology A 167, 569-577 (1990).
39. Kelber, A., Zeil, J.: Tetragonisca guard bees interpret expanding and contracting patterns as unintended displacement in space. Journal of Comparative Physiology A 181, 257-265 (1997).
40. Kral, K.: Behavioural-analytical studies of the role of head movements in depth perception in insects, birds and mammals. Behavioural Processes 64, 1-12 (2003).
41. Labrosse, F.: Short and long-range visual navigation using warped panoramic images. Robotics and Autonomous Systems 55, 675-684 (2007).
42. Lambrinos, D., Möller, R., Labhart, T., Pfeifer, R., Wehner, R.: A mobile robot employing insect strategies for navigation. Robotics and Autonomous Systems 30, 39-64 (2000).
43. Lehrer, M.: Why do bees turn back and look? Journal of Comparative Physiology A 172, 549-563 (1993).
44. Lehrer, M., Bianco, G.: The turn-back-and-look behaviour: bee versus robot. Biological Cybernetics 83, 211-229 (2000).
45. Lehrer, M., Collett, T.S.: Approaching and departing bees learn different cues to the distance of a landmark. Journal of Comparative Physiology A 175, 171-177 (1994).
46. Liu, G., Seiler, H., Wen, A., Zars, T., Ito, K., Wolf, R., Heisenberg, M., Liu, L.: Distinct memory traces for two visual features in the Drosophila brain. Nature 439, 551- 556 (2006).
47. Möller, R.: Insect visual homing strategies in a robot with analog processing. Biological Cybernetics 83, 231-243 (2000).
48. Möller, R.: Do insects use templates or parameters for landmark navigation? Journal of Theoretical Biology 210, 33-45 (2001).
49. Möller, R.: Insects could exploit UV-green contrast for landmark navigation. Journal of Theoretical Biology 214, 619-631 (2002).
50. Möller, R.: Local visual homing by warping of twodimensional images. Robotics and Autonomous Systems 57, 87-101 (2009).
51. Möller, R., Vardy, A.: Local visual homing by matchedfilter descent in image distances. Biological Cybernetics 95, 413-430 (2006).
52. Nicholson, D.J., Judd, S.P., Cartwright, B.A., Collett, T.S.: Learning walks and landmark guidance in wood ants (Formica rufa). Journal of Experimental Biology 202, 1831-1838 (1999).
53. Opfinger, E.: Über die Orientierung der Biene an der Futterquelle. Zeitschrift für Vergleichende Physiologie 15, 431-487 (1931).
54. Peters, R., Hemmi, J., Zeil, J.: Image motion environments: background noise for movement-based animal signals. Journal of Comparative Physiology A 194, 441-456 (2008).
55. Se, S., Lowe, D.G., Little, J.J.: Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks. International Journal of Robotics Research 21, 735-758 (2002).
56. Se, S., Lowe, D.G., Little, J.J.: Vision-based global localization and mapping for mobile robots. IEEE Transactions on Robotics 21, 364-375 (2005).
57. Sobel, E.C.: The locust's use of motion parallax to measure distance. Journal of Comparative Physiology A 167, 579- 588 (1990).
58. Srinivasan, M.V., Lehrer, M., Horridge, G.A.: Visual figureground discrimination in the honeybee: The role of motion parallax at boundaries. Proceedings of the Royal Society London B 238, 331-350 (1990).
59. Stürzl, W., Cheung, A., Cheng, K., Zeil, J.: The information content of panoramic images I. The rotational errors and the similarity of views in rectangular experimental arenas. Journal of Experimental Psychology: Animal Behavior Processes 34, 1-14 (2008).
60. Stürzl, W., Mallot, H.A.: Vision-based homing with a panoramic stereo sensor. In: H.H. Bülthoff, S.W. Lee, T.A. Poggio, C. Wallraven (eds.) Biologically Motivated Computer Vision, LNCS, vol. 2525, pp. 620-628 (2002).
61. Stürzl, W., Mallot, H.A.: Efficient visual homing based on Fourier transformed panoramic images. Robotics and Autonomous Systems 54, 300-313 (2006).
62. Stürzl, W., Zeil, J.: Depth, contrast and view-based homing in outdoor scenes. Biological Cybernetics 96, 519-531 (2007).
63. Tinbergen, N.: Über die Orientierung des Bienenwolfes (Philanthus triangulum Fabr.). Zeitschrift für vergleichende Physiologie 16, 305-334 (1932).
64. Tinbergen, N., Kruyt, W.: Über die Orientierung des Bienenwolfes (Philanthus triangulum Fabr.). III. Die Bevorzugung bestimmter Wegmarken. Zeitschrift für vergleichende Physiologie 25, 292-334 (1938).
65. Vardy, A., Möller, R.: Biologically plausible visual homing methods based on optical flow techniques. Connection Science 17, 47-89 (2005).
66. Vollbehr, J.: Zur Orientierung junger Honigbienen bei ihrem 1. Orientierungsflug. Zoologisches Jahrbuch Physiologie 79, 33-69 (1975).
67. Wallace, G.K.: Visual scanning in the desert locust Schistocerca gregaria Foskal. Journal of Experimental Biology 36, 512-525 (1959).
68. Wehner, R., Räber, F.: Visual spatial memory in desert ants, Cataglyphis bicolor (Hymenoptera: Formicidae). Experientia 35, 1569-1571 (1979).
69. Wei, C.A., Rafalko, S.L., Dyer, F.C.: Deciding to learn: modulation of learning flights in honeybees, Apis mellifera. Journal of Comparative Physiology A 188, 725-37 (2002).
70. Werner, A., Menzel, R., Wehrhahn, C.: Color constancy in the honeybee. The Journal of Neuroscience 8, 156-159 (1988).
71. Zanker, J.M., Zeil, J.: Movement-induced motion signal distributions in outdoor scenes. Network: Computation in Neural Systems 16, 357-376 (2005).
72. Zeil, J.: Orientation flights of solitary wasps (Cerceris; Sphecidae; Hymenoptera): I. Description of flight. Journal of Comparative Physiology A 172, 189-205 (1993a).
73. Zeil, J.: Orientation flights of solitary wasps (Cerceris; Sphecidae; Hymenoptera): II. Similarities between orientation and return flights and the use of motion parallax. Journal of Comparative Physiology A 172, 207-222 (1993b).
74. Zeil, J., Boeddeker, N., Hemmi, J., Stürzl, W.: Going wild: Toward an ecology of visual information processing. In: G. North, R. Greenspan (eds.) Invertebrate Neurobiology, pp. 381-403. Cold Spring Harbor (2007).
75. Zeil, J., Hofmann, M.I., Chahl, J.S.: Catchment areas of panoramic snapshots in outdoor scenes. Journal of the Optical Society of America A 20, 450-469 (2003).
76. Zeil, J., Kelber, A., Voss, R.: Structure and function of learning flights in ground-nesting bees and wasps. Journal of Experimental Biology 199, 245-252 (1996).