Perceiving Passability Using Multiple Blurred Images

Jumping spiders can navigate though complex environments despite their small brain. Reports indicate that the jumping spider's special hierarchical retina enables it to find passable paths. In our previous work, we considered the mechanism of the jumping spiders and proposed a method to find a passable path using two blurred images. In this study, we expand the previous method to use multiple blurred images. By using multiple images, the proposed method can determine passable and impassable areas based on the differences between them. Experiments using a small robot were conducted to verify the performance of the proposed method.