21,461 research outputs found
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
Second-order neural core for bioinspired focal-plane dynamic image processing in CMOS
Based on studies of the mammalian retina, a bioinspired model for mixed-signal array processing has been implemented on silicon. This model mimics the way in which images are processed at the front-end of natural visual pathways, by means of programmable complex spatio-temporal dynamic. When embedded into a focal-plane processing chip, such a model allows for online parallel filtering of the captured image; the outcome of such processing can be used to develop control feedback actions to adapt the response of photoreceptors to local image features. Beyond simple resistive grid filtering, it is possible to program other spatio-temporal processing operators into the model core, such as nonlinear and anisotropic diffusion, among others. This paper presents analog and mixed-signal very large-scale integration building blocks to implement this model, and illustrates their operation through experimental results taken from a prototype chip fabricated in a 0.5-μm CMOS technology.European Union IST 2001 38097Ministerio de Ciencia y Tecnología TIC 2003 09817 C02 01Office of Naval Research (USA) N00014021088
Integration of continuous-time dynamics in a spiking neural network simulator
Contemporary modeling approaches to the dynamics of neural networks consider
two main classes of models: biologically grounded spiking neurons and
functionally inspired rate-based units. The unified simulation framework
presented here supports the combination of the two for multi-scale modeling
approaches, the quantitative validation of mean-field approaches by spiking
network simulations, and an increase in reliability by usage of the same
simulation code and the same network model specifications for both model
classes. While most efficient spiking simulations rely on the communication of
discrete events, rate models require time-continuous interactions between
neurons. Exploiting the conceptual similarity to the inclusion of gap junctions
in spiking network simulations, we arrive at a reference implementation of
instantaneous and delayed interactions between rate-based models in a spiking
network simulator. The separation of rate dynamics from the general connection
and communication infrastructure ensures flexibility of the framework. We
further demonstrate the broad applicability of the framework by considering
various examples from the literature ranging from random networks to neural
field models. The study provides the prerequisite for interactions between
rate-based and spiking models in a joint simulation
Resolving structural variability in network models and the brain
Large-scale white matter pathways crisscrossing the cortex create a complex
pattern of connectivity that underlies human cognitive function. Generative
mechanisms for this architecture have been difficult to identify in part
because little is known about mechanistic drivers of structured networks. Here
we contrast network properties derived from diffusion spectrum imaging data of
the human brain with 13 synthetic network models chosen to probe the roles of
physical network embedding and temporal network growth. We characterize both
the empirical and synthetic networks using familiar diagnostics presented in
statistical form, as scatter plots and distributions, to reveal the full range
of variability of each measure across scales in the network. We focus on the
degree distribution, degree assortativity, hierarchy, topological Rentian
scaling, and topological fractal scaling---in addition to several summary
statistics, including the mean clustering coefficient, shortest path length,
and network diameter. The models are investigated in a progressive, branching
sequence, aimed at capturing different elements thought to be important in the
brain, and range from simple random and regular networks, to models that
incorporate specific growth rules and constraints. We find that synthetic
models that constrain the network nodes to be embedded in anatomical brain
regions tend to produce distributions that are similar to those extracted from
the brain. We also find that network models hardcoded to display one network
property do not in general also display a second, suggesting that multiple
neurobiological mechanisms might be at play in the development of human brain
network architecture. Together, the network models that we develop and employ
provide a potentially useful starting point for the statistical inference of
brain network structure from neuroimaging data.Comment: 24 pages, 11 figures, 1 table, supplementary material
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Neural Dynamics of 3-D Surface Perception: Figure-Ground Separation and Lightness Perception
This article develops the FACADE theory of three-dimensional (3-D) vision to simulate data concerning how two-dimensional (2-D) pictures give rise to 3-D percepts of occluded and occluding surfaces. The theory suggests how geometrical and contrastive properties of an image can either cooperate or compete when forming the boundary and surface representations that subserve conscious visual percepts. Spatially long-range cooperation and short-range competition work together to separate boundaries of occluding ligures from their occluded neighbors, thereby providing sensitivity to T-junctions without the need to assume that T-junction "detectors" exist. Both boundary and surface representations of occluded objects may be amodaly completed, while the surface representations of unoccluded objects become visible through modal processes. Computer simulations include Bregman-Kanizsa figure-ground separation, Kanizsa stratification, and various lightness percepts, including the Munker-White, Benary cross, and checkerboard percepts.Defense Advanced Research Projects Agency and Office of Naval Research (N00014-95-1-0409); National Science Foundation (IRI 94-01659, IRI 97-20333); Office of Naval Research (N00014-92-J-1309, N00014-95-1-0657
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