{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T21:19:10Z","timestamp":1776979150413,"version":"3.51.4"},"reference-count":59,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T00:00:00Z","timestamp":1773619200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["31871050"],"award-info":[{"award-number":["31871050"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002367","name":"Chinese Academy of Sciences","doi-asserted-by":"publisher","award":["XDB32000000"],"award-info":[{"award-number":["XDB32000000"]}],"id":[{"id":"10.13039\/501100002367","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Neurocomputing"],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1016\/j.neucom.2026.133380","type":"journal-article","created":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T16:03:40Z","timestamp":1773763420000},"page":"133380","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Bioinspired extraction of relative nearness map from expanding optic flow for collision avoidance"],"prefix":"10.1016","volume":"681","author":[{"given":"Haicong","family":"Zhou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aike","family":"Guo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6761-2007","authenticated-orcid":false,"given":"Zhihua","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"78","reference":[{"key":"10.1016\/j.neucom.2026.133380_bib1","doi-asserted-by":"crossref","DOI":"10.1088\/1748-3182\/9\/2\/025002","article-title":"Monocular distance estimation from optic flow during active landing maneuvers","volume":"9","author":"Van Breugel","year":"2014","journal-title":"Bioinspir Biomim."},{"key":"10.1016\/j.neucom.2026.133380_bib2","doi-asserted-by":"crossref","first-page":"140","DOI":"10.1016\/j.cois.2019.09.007","article-title":"Strategies of locomotion composition","volume":"36","author":"Corthals","year":"2019","journal-title":"Curr. Opin. Insect Sci."},{"issue":"4","key":"10.1016\/j.neucom.2026.133380_bib3","doi-asserted-by":"crossref","first-page":"541","DOI":"10.1007\/s00359-022-01610-w","article-title":"Optic flow based spatial vision in insects","volume":"209","author":"Egelhaaf","year":"2023","journal-title":"J. Comp. Physiol. A Neuroethol. Sens Neural Behav. Physiol."},{"key":"10.1016\/j.neucom.2026.133380_bib4","doi-asserted-by":"crossref","first-page":"1251","DOI":"10.1242\/jeb.02127","article-title":"Representation of behaviourally relevant information by blowfly motion-sensitive visual interneurons requires precise compensatory head movements","volume":"209","author":"Kern","year":"2006","journal-title":"J. Exp. Biol."},{"key":"10.1016\/j.neucom.2026.133380_bib5","first-page":"1899","article-title":"The fine structure of honeybee head and body yaw movements in a homing task","volume":"277","author":"Boeddeker","year":"2010","journal-title":"Proc. Biol. Sci."},{"key":"10.1016\/j.neucom.2026.133380_bib6","doi-asserted-by":"crossref","first-page":"385","DOI":"10.1098\/rspb.1980.0057","article-title":"The interpretation of a moving retinal image","volume":"208","author":"Longuet-Higgins","year":"1980","journal-title":"Proc. R. Soc. Lond. B."},{"key":"10.1016\/j.neucom.2026.133380_bib7","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1007\/BF00365219","article-title":"Facts on optic flow","volume":"56","author":"Koenderink","year":"1987","journal-title":"Biol. Cyber"},{"key":"10.1016\/j.neucom.2026.133380_bib8","series-title":"Proc","first-page":"2347","article-title":"Flying insect inspired vision for autonomous aerial robot maneuvers in near-earth environments","author":"Green","year":"2004"},{"key":"10.1016\/j.neucom.2026.133380_bib9","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1016\/j.robot.2004.09.016","article-title":"Optic flow regulation: the key to aircraft automatic guidance","volume":"50","author":"Ruffier","year":"2005","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.neucom.2026.133380_bib10","doi-asserted-by":"crossref","first-page":"94","DOI":"10.1038\/225094a0","article-title":"Blur zone","volume":"225","author":"Whiteside","year":"1970","journal-title":"Nature"},{"key":"10.1016\/j.neucom.2026.133380_bib11","article-title":"Visual guidance of a mobile robot equipped with a network of self-motion sensors","author":"Pichon","year":"1990","journal-title":"Proc. SPIE 1195 Mob. Robots Iv."},{"key":"10.1016\/j.neucom.2026.133380_bib12","doi-asserted-by":"crossref","first-page":"283","DOI":"10.1098\/rstb.1992.0106","article-title":"From insect vision to robot vision","volume":"337","author":"Franceschini","year":"1992","journal-title":"Philos. Trans. R. Soc. Lond. B Biol. Sci."},{"key":"10.1016\/j.neucom.2026.133380_bib13","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1007\/s00422-010-0404-8","article-title":"Control theoretic interpretation of directional motion preferences in optic flow processing interneurons","volume":"103","author":"Hyslop","year":"2010","journal-title":"Biol. Cyber"},{"key":"10.1016\/j.neucom.2026.133380_bib14","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1016\/S1672-6529(14)60099-8","article-title":"Biomimetic autopilot based on minimalistic motion vision for navigating along corridors comprising u-shaped and s-shaped turns","volume":"12","author":"Serres","year":"2015","journal-title":"J. Bion. Eng."},{"issue":"11","key":"10.1016\/j.neucom.2026.133380_bib15","doi-asserted-by":"crossref","DOI":"10.1371\/journal.pcbi.1004339","article-title":"A bio-inspired collision avoidance model based on spatial information derived from motion detectors leads to common routes","volume":"11","author":"Bertrand","year":"2015","journal-title":"PLoS Comput. Biol."},{"key":"10.1016\/j.neucom.2026.133380_bib16","doi-asserted-by":"crossref","first-page":"1625","DOI":"10.1242\/jeb.038802","article-title":"Minimum viewing angle for visually guided ground speed control in bumblebees","volume":"213","author":"Baird","year":"2010","journal-title":"J. Exp. Biol."},{"key":"10.1016\/j.neucom.2026.133380_bib17","doi-asserted-by":"crossref","first-page":"2501","DOI":"10.1242\/jeb.061713","article-title":"Blowfly flight characteristics are shaped by environmental features and controlled by optic flow information","volume":"215","author":"Kern","year":"2012","journal-title":"J. Exp. Biol."},{"key":"10.1016\/j.neucom.2026.133380_bib18","doi-asserted-by":"crossref","first-page":"1051","DOI":"10.1242\/jeb.107409","article-title":"Bumblebees measure optic flow for position and speed control flexibly within the frontal visual field","volume":"218","author":"Linander","year":"2015","journal-title":"J. Exp. Biol."},{"key":"10.1016\/j.neucom.2026.133380_bib19","doi-asserted-by":"crossref","first-page":"513","DOI":"10.1515\/znb-1956-9-1004","article-title":"System theoretical analysis of time, sequence and sign analysis of the motion perception of the snout-beetle Chlorophanus","volume":"11","author":"Hassenstein","year":"1956","journal-title":"Z. Naturforsch. B."},{"key":"10.1016\/j.neucom.2026.133380_bib20","doi-asserted-by":"crossref","first-page":"1155","DOI":"10.1016\/j.neuron.2011.03.028","article-title":"Internal structure of the fly elementary motion detector","volume":"70","author":"Eichner","year":"2011","journal-title":"Neuron"},{"key":"10.1016\/j.neucom.2026.133380_bib21","series-title":"Photoreception and vision in invertebrates","first-page":"561","article-title":"Behavioural analysis of spatial vision in insects","author":"Buchner","year":"1984"},{"key":"10.1016\/j.neucom.2026.133380_bib22","doi-asserted-by":"crossref","first-page":"533","DOI":"10.1007\/BF00603660","article-title":"Evaluation of optical motion information by movement detectors","volume":"161","author":"Reichardt","year":"1987","journal-title":"J. Comp. Physiol. A"},{"key":"10.1016\/j.neucom.2026.133380_bib23","doi-asserted-by":"crossref","DOI":"10.1088\/1748-3190\/11\/1\/016004","article-title":"Monocular distance estimation with optical flow maneuvers and efference copies: a stability-based strategy","volume":"11","author":"De Croon","year":"2016","journal-title":"Bioinspir. Biomim."},{"key":"10.1016\/j.neucom.2026.133380_bib24","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1038\/s42256-020-00279-7","article-title":"Enhancing optical-flow-based control by learning visual appearance cues for flying robots","volume":"3","author":"De Croon","year":"2021","journal-title":"Nat. Mach. Intell."},{"key":"10.1016\/j.neucom.2026.133380_bib25","first-page":"3354","article-title":"Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite","volume":"2012","author":"Geiger","year":"2012","journal-title":"IEEE Conf. Comput. Vis. Pattern Recognit. Provid. RI USA"},{"key":"10.1016\/j.neucom.2026.133380_bib26","first-page":"1321","article-title":"V-REP: A versatile and scalable robot simulation framework","author":"Rohmer","year":"2013","journal-title":"2013 IEEE\/RSJ Int. Conf. Intell. Robots Syst. Tokyo Jpn."},{"key":"10.1016\/j.neucom.2026.133380_bib27","doi-asserted-by":"crossref","DOI":"10.1016\/j.imavis.2019.09.005","article-title":"Consistent estimation of rotational optical flow in real environments using a biologically-inspired vision algorithm on embedded hardware","volume":"92","author":"Skelton","year":"2019","journal-title":"Image Vis. Comput."},{"issue":"2","key":"10.1016\/j.neucom.2026.133380_bib28","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1016\/j.cub.2019.10.035","article-title":"Dynamic signal compression for robust motion vision in flies","volume":"30","author":"Drews","year":"2020","journal-title":"Curr. Biol."},{"key":"10.1016\/j.neucom.2026.133380_bib29","doi-asserted-by":"crossref","DOI":"10.1371\/journal.pcbi.1011077","article-title":"Bioinspired figure-ground discrimination via visual motion smoothing","volume":"19","author":"Wu","year":"2023","journal-title":"PLoS Comput. Biol."},{"key":"10.1016\/j.neucom.2026.133380_bib30","doi-asserted-by":"crossref","DOI":"10.1088\/1748-3190\/ad5ba3","article-title":"Moving object detection based on bioinspired background subtraction","volume":"19","author":"Zheng","year":"2024","journal-title":"Bioinspir Biomim."},{"key":"10.1016\/j.neucom.2026.133380_bib31","series-title":"Depth map prediction from a single image using a multi-scale deep network","first-page":"2366","article-title":"Proceedings of the 28th International Conference on Neural Information Processing Systems","author":"Eigen","year":"2014"},{"key":"10.1016\/j.neucom.2026.133380_bib32","doi-asserted-by":"crossref","DOI":"10.1016\/j.jvcir.2022.103459","article-title":"Single-image depth estimation using relative depths","volume":"84","author":"Lee","year":"2022","journal-title":"J. Vis. Commun. Image Represent."},{"key":"10.1016\/j.neucom.2026.133380_bib33","first-page":"611","article-title":"Structure-Guided Ranking Loss for Single Image Depth Prediction","author":"Xian","year":"2020","journal-title":"Proc. IEEE\/CVF Conf. Comput. Vis. Pattern Recognit. (CVPR)"},{"key":"10.1016\/j.neucom.2026.133380_bib34","doi-asserted-by":"crossref","first-page":"83","DOI":"10.3389\/fncom.2014.00083","article-title":"Depth information in natural environments derived from optic flow by insect motion detection system: a model analysis","volume":"8","author":"Schwegmann","year":"2014","journal-title":"Front Comput. Neurosci."},{"key":"10.1016\/j.neucom.2026.133380_bib35","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1068\/p240315","article-title":"Perceiving heading in the presence of moving objects","volume":"24","author":"Warren","year":"1995","journal-title":"Perception"},{"issue":"3","key":"10.1016\/j.neucom.2026.133380_bib36","doi-asserted-by":"crossref","first-page":"1623","DOI":"10.1109\/TPAMI.2020.3019967","article-title":"Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-Shot Cross-Dataset Transfer","volume":"44","author":"Ranftl","year":"2022","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"10.1016\/j.neucom.2026.133380_bib37","first-page":"730","article-title":"Single image depth perception in the wild","author":"Chen","year":"2016","journal-title":"Adv. Neural Inf. Process. Syst."},{"issue":"6","key":"10.1016\/j.neucom.2026.133380_bib38","first-page":"6:1","volume":"37","author":"Lijun Wang","year":"2018","journal-title":"Shallow depth Field a Single Image ACM Trans. Graph. (Proc. SIGGRAPH Asia)"},{"key":"10.1016\/j.neucom.2026.133380_bib39","article-title":"Monocular relative depth perception with web stereo data supervision","author":"Xian","year":"2018","journal-title":"Proc. Comput. Vis. Pattern Recognit. (CVPR)"},{"key":"10.1016\/j.neucom.2026.133380_bib40","article-title":"Megadepth: Learning single-view depth prediction from internet photos","author":"Li","year":"2018","journal-title":"Proc. Comput. Vis. Pattern Recognit. (CVPR)"},{"key":"10.1016\/j.neucom.2026.133380_bib41","first-page":"5604","article-title":"Learning single-image depth from videos using quality assessment netwo","author":"Chen","year":"2019","journal-title":"rks. Proc. Comput. Vis. Pattern Recognit. (CVPR)"},{"key":"10.1016\/j.neucom.2026.133380_bib42","article-title":"Learning the depths of moving people by watching frozen peo","author":"Zhengqi Li","year":"2019","journal-title":"ple. Proc. Comput. Vis. Pattern Recognit. (CVPR)"},{"issue":"16","key":"10.1016\/j.neucom.2026.133380_bib43","doi-asserted-by":"crossref","first-page":"3529","DOI":"10.1016\/j.cub.2022.06.061","article-title":"Neuronal circuits integrating visual motion information in Drosophila melanogaster","volume":"32","author":"Shinomiya","year":"2022","journal-title":"Curr. Biol."},{"issue":"8032","key":"10.1016\/j.neucom.2026.133380_bib44","doi-asserted-by":"crossref","first-page":"124","DOI":"10.1038\/s41586-024-07558-y","article-title":"Neuronal wiring diagram of an adult brain","volume":"634","author":"Dorkenwald","year":"2024","journal-title":"Nature"},{"key":"10.1016\/j.neucom.2026.133380_bib45","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1038\/s41586-024-07981-1","article-title":"Neuronal parts list and wiring diagram for a visual system","volume":"634","author":"Matsliah","year":"2024","journal-title":"Nature"},{"issue":"9","key":"10.1016\/j.neucom.2026.133380_bib46","doi-asserted-by":"crossref","first-page":"1247","DOI":"10.1038\/nn.4083","article-title":"Cellular evidence for efference copy in Drosophila visuomotor processing","volume":"18","author":"Kim","year":"2015","journal-title":"Nat. Neurosci."},{"key":"10.1016\/j.neucom.2026.133380_bib47","doi-asserted-by":"crossref","first-page":"162","DOI":"10.1038\/336162a0","article-title":"Direction of self-motion is perceived from optical flow","volume":"336","author":"Warren","year":"1988","journal-title":"Nature"},{"key":"10.1016\/j.neucom.2026.133380_bib48","doi-asserted-by":"crossref","first-page":"1","DOI":"10.3389\/fnbeh.2012.00001","article-title":"Prototypical components of honeybee homing flight behavior depend on the visual appearance of objects surrounding the goal","volume":"6","author":"Braun","year":"2012","journal-title":"Front Behav. Neurosci."},{"issue":"5","key":"10.1016\/j.neucom.2026.133380_bib49","doi-asserted-by":"crossref","first-page":"703","DOI":"10.1016\/j.asd.2017.06.003","article-title":"Optic flow-based collision-free strategies: From insects to robots","volume":"46","author":"Serres","year":"2017","journal-title":"Arthropod Struct. Dev."},{"key":"10.1016\/j.neucom.2026.133380_bib50","doi-asserted-by":"crossref","first-page":"1102","DOI":"10.1109\/34.42840","article-title":"Obstacle avoidance using flow field divergence","volume":"11","author":"Nelson","year":"1989","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"10.1016\/j.neucom.2026.133380_bib51","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1007\/BF01418979","article-title":"Optical flow from 1D correlation: Application to a simple time-to-crash detector","volume":"14","author":"Ancona","year":"1995","journal-title":"Intemational J. Comput. Vis."},{"key":"10.1016\/j.neucom.2026.133380_bib52","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1109\/70.660840","article-title":"Real-time obstacle avoidance using central flow divergence, and peripheral flow","volume":"14","author":"Coombs","year":"1998","journal-title":"IEEE Trans. Rob. Autom."},{"key":"10.1016\/j.neucom.2026.133380_bib53","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1109\/TRO.2005.858857","article-title":"Fly-inspired visual steering of an ultralight indoor aircraft","volume":"22","author":"Zufferey","year":"2006","journal-title":"IEEE Trans. Robot"},{"key":"10.1016\/j.neucom.2026.133380_bib54","doi-asserted-by":"crossref","first-page":"832","DOI":"10.1109\/TRO.2008.926871","article-title":"A robust docking strategy for a mobile robot using flow field divergence","volume":"24","author":"McCarthy","year":"2008","journal-title":"IEEE Trans. Robot"},{"key":"10.1016\/j.neucom.2026.133380_bib55","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1016\/j.robot.2004.09.017","article-title":"A contribution to vision-based autonomous helicopter flight in urban environments","volume":"50","author":"Muratet","year":"2005","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.neucom.2026.133380_bib56","article-title":"A fly inspired solution to looming detection for collision avoidance","volume":"26","author":"Zhao","year":"2023","journal-title":"iScience"},{"issue":"1","key":"10.1016\/j.neucom.2026.133380_bib57","doi-asserted-by":"crossref","first-page":"817","DOI":"10.1038\/s41467-024-45063-y","article-title":"Finding the gap: neuromorphic motion-vision in dense environments","volume":"15","author":"Schoepe","year":"2024","journal-title":"Nat. Commun."},{"key":"10.1016\/j.neucom.2026.133380_bib58","doi-asserted-by":"crossref","DOI":"10.1016\/j.cosrev.2020.100310","article-title":"Moving objects detection with a moving camera: A comprehensive review","volume":"38","author":"Chapel","year":"2020","journal-title":"Comput. Sci. Rev."},{"key":"10.1016\/j.neucom.2026.133380_bib59","doi-asserted-by":"crossref","first-page":"423","DOI":"10.1146\/annurev-vision-110323-112124","article-title":"Seeing a three-dimensional world in motion: How the brain computes object motion and depth during self-motion","volume":"11","author":"Xu","year":"2025","journal-title":"Annu. Rev. Vis. Sci."}],"container-title":["Neurocomputing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0925231226007770?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0925231226007770?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T20:29:27Z","timestamp":1776976167000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0925231226007770"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6]]},"references-count":59,"alternative-id":["S0925231226007770"],"URL":"https:\/\/doi.org\/10.1016\/j.neucom.2026.133380","relation":{},"ISSN":["0925-2312"],"issn-type":[{"value":"0925-2312","type":"print"}],"subject":[],"published":{"date-parts":[[2026,6]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Bioinspired extraction of relative nearness map from expanding optic flow for collision avoidance","name":"articletitle","label":"Article Title"},{"value":"Neurocomputing","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.neucom.2026.133380","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Author(s). Published by Elsevier B.V.","name":"copyright","label":"Copyright"}],"article-number":"133380"}}