Bio-inspired feature extraction and enhancement of targets moving against visual clutter during closed loop pursuit

Abstract

We developed a biologically inspired model for detection and pursuit of small targets against complex backgrounds and tested it in a closed-loop flight arena. A winner-takes-all network of local feature detectors based on insect Small Target Motion Detector (STMD) neurons was used to direct the gaze of a camera mimicking the viewpoint of the pursuer in a series of small steps (saccades) whilst fixating the background. The output of a direction-selective network of 2nd order local motion correlators was then used to enhance the relative salience of features in the direction of travel of the winning feature. The combination of saccadic fixation and robust target-ground discrimination provided by the STMD front-end, with an attention-like 2nd order salience enhancement provided very reliable capture of tiny targets even in visually challenging scenarios.