Patent Document ID: 9934437
Application ID: 14795884
Patent Flag: 1

Claim One:
1. A system for collision detection, the system comprising: one or more processors and a non-transitory computer-readable medium having executable instructions encoded thereon such that when executed, the one or more processors perform operations of: dividing an image in a sequence of images into a plurality of visual sub-fields comprising two sets of complementary visual sub-fields, each set comprising a first visual sub-field and a second visual sub-field that is complementary to the first visual sub-field, the sequence of images having been captured by a moving visual sensor; for each visual sub-field in the plurality of visual sub-fields, detecting motion in a direction corresponding to the visual sub-field using a first detector; for each visual sub-field in the plurality of visual sub-fields, detecting motion in a direction complementary to the visual sub-field using the first detector, wherein a first set of complementary visual sub-fields comprises a left visual sub-field and a right visual sub-field, and wherein a second set of complementary visual sub-fields comprises an up visual sub-field and a down visual sub-field; using a plurality of Lobula Giant Movement Detector (LGMD) cell models, processing outputs of the first detector, each output comprising data corresponding to one direction of movement from two complementary visual sub-fields; accumulating spikes from the plurality of Lobula Giant Movement Detector (LGMD) cell models into corresponding spikes accumulators, each LGMD cell model corresponding to a visual sub-field; combining the spikes of the spikes accumulators; and signaling an impending collision when the combination of the spikes of the spikes accumulators exceeds a predetermined threshold.