Artifical Microsaccade Compensation: Stable Vision for an Ornithopter

Webpage, arXiv

Contents

• rotation_stabilize.py: Rotation stabilization algorithm
• vme_research/algorithms/patch_track.py: Inverse compositional LK on SO(3) with updates in so(3) and line search
• base_exp.sh: Process raw data from motion capture sequences for analysis.py
• out_lab_exp.sh: Process raw data from non-motion capture sequences for analysis.py
• analysis.py: Compute final metrics and generate tables (comment out top lines to choose motion capture or non-motion capture sequences)
• generate_videos_vicon.sh: Generate videos (excluding Adobe) (motion capture sequences)
• generate_videos.sh: Generate videos (excluding Adobe) (non-motion capture sequences)

Data

The raw record data is available here. Extract it into the root of this repository

Dependencies

• vme_research: A minimal version of an internal library used by the group for robotics research. To install run: pip install -e ./vme_research from the root of this repository.
• numpy, scipy, matplotlib, jax (cpu)
• OpenCV