A Brain-Inspired Visual Fear Responses Model for UAV Emergent Obstacle Dodging

doi:10.1109/TCDS.2019.2939024

	A Brain-Inspired Visual Fear Responses Model for UAV Emergent Obstacle Dodging
	Zhao, Feifei1 ; Kong, Qingqun2,3 ; Zeng, Yi2 ; Xu, Bo2,4,5
发表期刊	IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
ISSN	2379-8920
	2020-03-01
卷号	12 期号:1 页码:124-132
通讯作者	Zeng, Yi(yi.zeng@ia.ac.cn)
摘要	Dodging emergent dangers is an innate cognitive ability for animals, which helps them to survive in the natural environment. The retina-superior colliculus (SC)-pulvinar-amygdala-periaqueductal gray pathway is responsible for the visual fear responses, and it is able to quickly detect the looming obstacles for innate dodging. Inspired by the mechanism of the visual fear responses pathway, we propose a brain-inspired emergent obstacle dodging method to model the functions of the related brain regions. This method first detects the moving direction and speed of the salient point of moving objects (retina). Then, we detect the looming obstacles (SC). Third, we modulate attention to the most dangerous area (pulvinar). Fourth, if the degree of danger exceeds the threshold (amygdala), the unmanned ariel vehicle (UAV) moves back to dodge it (periaqueductal gray). Two types of experiments are conducted to validate the effectiveness of the proposed model. In a simulated scene, we simulate the process of mice's fear responses by putting looming dark lights shining on them. In a natural scene, we apply the proposed model to the UAV emergent obstacles dodging. Compared to the stereo vision model, the proposed model is not only more biologically realistic from the mechanisms perspective, but also more accurate and faster for computation.
关键词	Unmanned ariel vehicle (UAV) dodging emergent obstacles visual fear responses pathway
DOI	10.1109/TCDS.2019.2939024
关键词[WOS]	SUPERIOR COLLICULUS ; PERIAQUEDUCTAL GRAY ; LOOMING OBJECTS ; DIRECTION SELECTIVITY ; NEURAL-NETWORK ; AMYGDALA ; NEURONS ; PATHWAY ; COLLISION ; CORTEX
收录类别	SCI
语种	英语
资助项目	Strategic Priority Research Program of the Chinese Academy of Sciences[XDB32070100] ; Beijing Municipal Commission of Science and Technology[Z181100001518006] ; CETC Joint Fund[6141B08010103] ; Major Research Program of Shandong Province[2018CXGC1503]
项目资助者	Strategic Priority Research Program of the Chinese Academy of Sciences ; Beijing Municipal Commission of Science and Technology ; CETC Joint Fund ; Major Research Program of Shandong Province
WOS研究方向	Computer Science ; Robotics ; Neurosciences & Neurology
WOS类目	Computer Science, Artificial Intelligence ; Robotics ; Neurosciences
WOS记录号	WOS:000521175700012
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	类脑模型与计算
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/38726
专题	脑图谱与类脑智能实验室_类脑认知计算类脑智能研究中心
通讯作者	Zeng, Yi
作者单位	1.Chinese Acad Sci, Inst Automat, Res Ctr Brain Inspired Intelligence, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Brain Inspired Intelligence, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 5.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	模式识别国家重点实验室
推荐引用方式 GB/T 7714	Zhao, Feifei,Kong, Qingqun,Zeng, Yi,et al. A Brain-Inspired Visual Fear Responses Model for UAV Emergent Obstacle Dodging[J]. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,2020,12(1):124-132.
APA	Zhao, Feifei,Kong, Qingqun,Zeng, Yi,&Xu, Bo.(2020).A Brain-Inspired Visual Fear Responses Model for UAV Emergent Obstacle Dodging.IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,12(1),124-132.
MLA	Zhao, Feifei,et al."A Brain-Inspired Visual Fear Responses Model for UAV Emergent Obstacle Dodging".IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 12.1(2020):124-132.