LoTTIEstimator.H File Reference

A Bayesian time-to-impact state estimator. More...

#include "Robots/LoBot/ui/LoDrawable.H"
#include "Robots/LoBot/tti/LoSensorModel.H"
#include "Robots/LoBot/lgmd/LocustModel.H"
#include "Robots/LoBot/misc/LoVector.H"
#include "Robots/LoBot/misc/wma.hh"
#include "Robots/LoBot/util/range.hh"
#include <deque>
#include <vector>

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Classes
class	lobot::TTIEstimator
	Encapsulation of Bayesian time-to-impact estimation using LGMD spike rates. More...

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Detailed Description

A Bayesian time-to-impact state estimator.

This file defines a class that estimates time-to-impact from LGMD spikes.

As per the research by Gabbiani, et al., we know that LGMD spikes are related to the time-to-impact of approaching objects. Unfortunately, given a spike rate, we cannot easily determine the corresponding time-to-impact (TTI) because the spike rate function is non-invertible.

Thus, for each (actual or virtual) locust connected to the robot, we will have a corresponding TTI estimator that will perform Bayesian state estimation in an attempt to determine the corresponding TTI given spike rate. Once we have the TTI for a locust, we can use the velocity information returned by the robot's motor system to calculate a distance estimate for that locust. This would, in effect, allow us to use the locust array as a kind of range sensor.

Definition in file LoTTIEstimator.H.