Fig. 3: Corridor centring experiments.
From: Finding the gap: neuromorphic motion-vision in dense environments
a–c Simulated corridor centring results normalised over the width of the corridor increasing from (a to c). The legend shows the corridor width in a.u. d–g Real-world corridor centring experiment results from the setup shown in Supplementary Fig. 11. d Robot’s movement trajectories for ten runs through a narrow corridor moving from left to right. Dots and lines indicate the centre of mass of the robot. The blue area represents the whole area covered by the approximately 20 cm wide robot combined for all ten runs. The frequency of occurrence increases from dark blue to light blue. e Robot’s trajectories for ten runs in a wide corridor. f Control experiment. Robot’s trajectories in a wide corridor with no visual input. g Spiking activity in the robot’s obstacle avoidance network during an example run in the narrow corridor. TDE spikes indicate the walls, and WTA spikes indicate the next turn of the robotic agent.
