OppLoD: the Opponency based Looming Detector, Model Extension of Looming Sensitivity from LGMD to LPLC2

Looming detection plays an important role in insect collision prevention systems. As a vital capability evolutionary survival, it has been extensively studied in neuroscience and is attracting increasing research interest in robotics due to its close relationship with collision detection and navigation. Visual cues such as angular size, angular velocity, and expansion have been widely studied for looming detection by means of optic flow or elementary neural computing research. However, a critical visual motion cue has been long neglected because it is so easy to be confused with expansion, that is radial-opponent-motion (ROM). Recent research on the discovery of LPLC2, a ROM-sensitive neuron in Drosophila, has revealed its ultra-selectivity because it only responds to stimuli with focal, outward movement. This characteristic of ROM-sensitivity is consistent with the demand for collision detection because it is strongly associated with danger looming that is moving towards the center of the observer. Thus, we hope to extend the well-studied neural model of the lobula giant movement detector (LGMD) with ROM-sensibility in order to enhance robustness and accuracy at the same time. In this paper, we investigate the potential to extend an image velocity-based looming detector, the lobula giant movement detector (LGMD), with ROM-sensibility. To achieve this, we propose the mathematical definition of ROM and its main property, the radial motion opponency (RMO). Then, a synaptic neuropile that analogizes the synaptic processing of LPLC2 is proposed in the form of lateral inhibition and attention. Thus, our proposed model is the first to perform both image velocity selectivity and ROM sensitivity. Systematic experiments are conducted to exhibit the huge potential of the proposed bio-inspired looming detector.