A fly-eye-like camera with synchronized inertial sensing shows that optimal yaw-velocity estimates depend on pitch-direction image gradients, not just yaw-direction ones.
In particular, we wanted the camera’s SNR to exceed that of the fly large monopolar cell (LMC), a secondary visual neuron that combines the responses of six photoreceptors
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The FlEye camera: Sampling the joint distribution of natural scenes and motion
A fly-eye-like camera with synchronized inertial sensing shows that optimal yaw-velocity estimates depend on pitch-direction image gradients, not just yaw-direction ones.