# A bee in a corridor: centering and wall-following

Julien Serres, Franck Ruffier, Guillaume P. Masson, Nicolas Franceschini

## ► To cite this version:

Julien Serres, Franck Ruffier, Guillaume P. Masson, Nicolas Franceschini. A bee in a corridor: centering and wall-following. 2nd International Conference on Invertebrate Vision (ICIV), Aug 2008, Bäckaskog, Sweden. hal-02195483

HAL Id: hal-02195483

https://amu.hal.science/hal-02195483

Submitted on 26 Jul 2019

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<figure><img src="image_1.png" /></figure>

Distributed under a Creative Commons Attribution 4.0 International License
# A bee in a corridor: centering and wall-following

J. Serres, F. Ruffier, G.P. Masson and N. Franceschini

Biorobotics Dpt., Institute of Movement Sciences, CNRS/Univ. of the Mediterranean
163 ave. Luminy 13288 Marseille Cedex 09 FRANCE julien.serres@univmed.fr

* Bees do not systematically center as previously reported in narrows corridors

(Kirchner and Srinivasan, 1989)

* Balancing right and left optic flows does not account for the **wall-following** behaviour observed here

(Serres et al., Naturwissenschaften, final revision, 2008)

* The bee's behaviour is well accounted for by **two interdependent lateral optic flow regulators**

(Serres et al., Auto. Robots, 2008)

## Experimental procedure

* Digital CMOS camera: Prosilica™ EC1280

* High resolution: 1280x1024 pixels

* 20 fps, sampling period Te=50ms

* Camera viewfield: 150 x 95cm

* E = Entrance

* F = Feeder

<figure><img src="image_2.png" /></figure>

## Image processing and time-lapse photography

<figure><img src="image_3.png" /></figure>

### Stacked Images

<figure><img src="image_4.png" /></figure>

Best elliptic fit

<figure><img src="image_5.png" /></figure>

### Manual thresholding and cleaning

<figure><img src="image_6.png" /></figure>

<figure><img src="image_7.png" /></figure>

### Automatic reconstruction

<figure><img src="image_8.png" /></figure>

<figure><img src="image_9.png" /></figure>

### Flight parameters

<figure><img src="image_10.png" /></figure>

## Experimental results: to center or not to center ?

<figure><img src="image_11.png" /></figure>

<table><tr><td>Left Optic Flow (°/s)</td><td>148 ±54</td><td>235 ±80</td><td>73 ±25</td><td>4 ±1</td></tr><tr><td>Right Optic Flow (°/s)</td><td>151 ±68</td><td>106 ±39</td><td>226 ±68</td><td>265 ±116</td></tr></table>