Improved Collision Perception Neuronal System Model With Adaptive Inhibition Mechanism and Evolutionary Learning

摘要

Accurate and timely perception of collision in highly variable environments is still a challenging problem for artificial visual systems. As a source of inspiration, the lobula giant movement detectors (LGMDs) in locust's visual pathways have been studied intensively, and modelled as quick collision detectors against challenges from various scenarios including vehicles and robots. However, the state-of-the-art LGMD models have not achieved acceptable robustness to deal with more challenging scenarios like the various vehicle driving scenes, due to the lack of adaptive signal processing mechanisms. To address this problem, we propose an improved neuronal system model, called LGMD <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">+</sup> , that is featured by novel modelling of spatiotemporal inhibition dynamics with biological plausibilities including 1) lateral inhibitions with global biases defined by a variant of Gaussian distribution, spatially, and 2) an adaptive feed-forward inhibition mediation pathway, temporally. Accordingly, the LGMD <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">+</sup> performs more effectively to detect merely approaching objects threatening head-on collision risks by appropriately suppressing motion distractors caused by vibrations, near-miss or approaching stimuli with deviations from the centre view. Through evolutionary learning with a systematic dataset of various crash and non-collision driving scenarios, the LGMD <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">+</sup> shows improved robustness outperforming the previous related methods. After evolution, its computational simplicity, flexibility and robustness have also been well demonstrated by real-time experiments of autonomous micro-mobile robots.