Perceiving of Passability Using Two Blurred Images

Abstract

　A jumping spider can move on branches of a tree without falling while avoiding obstacles. According to conventional explanations, it is required that the spider has to conduct complex information processing, such as recognition of branches and obstacles, and path planning. However, it is difficult for the small brain of the jumping spider, and it is considered that some other mechanisms are employed.

　On the other hand, in ecological psychology, we consider that the jumping spider directly perceives an affordance of passage without recognizing branches or obstacles. However, the mechanism to perceive the passage is an open question. In this study, we focus on the mechanism of the eye of the jumping spider, and we make a hypothesis that the jumping spider perceive a passage using the difference between two blurred images, and we demonstrate it using a small mobile robot.