Spike-based VITE control with Dynamic Vision Sensor applied to an Arm Robot.

Spike-based motor control is very important in the field of robotics and also for the neuromorphic engineering community to bridge the gap between sensing / processing devices and motor control without losing the spike philosophy that enhances speed response and reduces power consumption. This paper shows an accurate neuro-inspired spike-based system composed of a DVS retina, a visual processing system that detects and tracks objects, and a SVITE motor control, where everything follows the spike-based philosophy. The control system is a spike version of the neuroinspired open loop VITE control algorithm implemented in a couple of FPGA boards: the first one runs the algorithm and the second one drives the motors with spikes. The robotic platform is a low cost arm with four degrees of freedom.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02/01Ministerio de Economía y Competitividad TEC2012-37868-C04-02/0

Estimating Epipolar Geometry With The Use of a Camera Mounted Orientation Sensor

Context: Image processing and computer vision are rapidly becoming more and more commonplace, and the amount of information about a scene, such as 3D geometry, that can be obtained from an image, or multiple images of the scene is steadily increasing due to increasing resolutions and availability of imaging sensors, and an active research community. In parallel, advances in hardware design and manufacturing are allowing for devices such as gyroscopes, accelerometers and magnetometers and GPS receivers to be included alongside imaging devices at a consumer level. Aims: This work aims to investigate the use of orientation sensors in the field of computer vision as sources of data to aid with image processing and the determination of a scene’s geometry, in particular, the epipolar geometry of a pair of images - and devises a hybrid methodology from two sets of previous works in order to exploit the information available from orientation sensors alongside data gathered from image processing techniques. Method: A readily available consumer-level orientation sensor was used alongside a digital camera to capture images of a set of scenes and record the orientation of the camera. The fundamental matrix of these pairs of images was calculated using a variety of techniques - both incorporating data from the orientation sensor and excluding its use Results: Some methodologies could not produce an acceptable result for the Fundamental Matrix on certain image pairs, however, a method described in the literature that used an orientation sensor always produced a result - however in cases where the hybrid or purely computer vision methods also produced a result - this was found to be the least accurate. Conclusion: Results from this work show that the use of an orientation sensor to capture information alongside an imaging device can be used to improve both the accuracy and reliability of calculations of the scene’s geometry - however noise from the orientation sensor can limit this accuracy and further research would be needed to determine the magnitude of this problem and methods of mitigation

Estimating Sensor Motion from Wide-Field Optical Flow on a Log-Dipolar Sensor

Log-polar image architectures, motivated by the structure of the human visual field, have long been investigated in computer vision for use in estimating motion parameters from an optical flow vector field. Practical problems with this approach have been: (i) dependence on assumed alignment of the visual and motion axes; (ii) sensitivity to occlusion form moving and stationary objects in the central visual field, where much of the numerical sensitivity is concentrated; and (iii) inaccuracy of the log-polar architecture (which is an approximation to the central 20°) for wide-field biological vision. In the present paper, we show that an algorithm based on generalization of the log-polar architecture; termed the log-dipolar sensor, provides a large improvement in performance relative to the usual log-polar sampling. Specifically, our algorithm: (i) is tolerant of large misalignmnet of the optical and motion axes; (ii) is insensitive to significant occlusion by objects of unknown motion; and (iii) represents a more correct analogy to the wide-field structure of human vision. Using the Helmholtz-Hodge decomposition to estimate the optical flow vector field on a log-dipolar sensor, we demonstrate these advantages, using synthetic optical flow maps as well as natural image sequences

Four-dimensional dynamic flow measurement by holographic particle image velocimetry

The ultimate goal of holographic particle image velocimetry (HPIV) is to provide space- and time-resolved measurement of complex flows. Recent new understanding of holographic imaging of small particles, pertaining to intrinsic aberration and noise in particular, has enabled us to elucidate fundamental issues in HPIV and implement a new HPIV system. This system is based on our previously reported off-axis HPIV setup, but the design is optimized by incorporating our new insights of holographic particle imaging characteristics. Furthermore, the new system benefits from advanced data processing algorithms and distributed parallel computing technology. Because of its robustness and efficiency, for the first time to our knowledge, the goal of both temporally and spatially resolved flow measurements becomes tangible. We demonstrate its temporal measurement capability by a series of phase-locked dynamic measurements of instantaneous three-dimensional, three-component velocity fields in a highly three-dimensional vortical flow--the flow past a tab

Simple digital quantum algorithm for symmetric first order linear hyperbolic systems

This paper is devoted to the derivation of a digital quantum algorithm for the Cauchy problem for symmetric first order linear hyperbolic systems, thanks to the reservoir technique. The reservoir technique is a method designed to avoid artificial diffusion generated by first order finite volume methods approximating hyperbolic systems of conservation laws. For some class of hyperbolic systems, namely those with constant matrices in several dimensions, we show that the combination of i) the reservoir method and ii) the alternate direction iteration operator splitting approximation, allows for the derivation of algorithms only based on simple unitary transformations, thus perfectly suitable for an implementation on a quantum computer. The same approach can also be adapted to scalar one-dimensional systems with non-constant velocity by combining with a non-uniform mesh. The asymptotic computational complexity for the time evolution is determined and it is demonstrated that the quantum algorithm is more efficient than the classical version. However, in the quantum case, the solution is encoded in probability amplitudes of the quantum register. As a consequence, as with other similar quantum algorithms, a post-processing mechanism has to be used to obtain general properties of the solution because a direct reading cannot be performed as efficiently as the time evolution.Comment: 28 pages, 12 figures, major rewriting of the section describing the numerical method, simplified the presentation and notation, reorganized the sections, comments are welcome

Human Perambulation as a Self Calibrating Biometric

This paper introduces a novel method of single camera gait reconstruction which is independent of the walking direction and of the camera parameters. Recognizing people by gait has unique advantages with respect to other biometric techniques: the identification of the walking subject is completely unobtrusive and the identification can be achieved at distance. Recently much research has been conducted into the recognition of frontoparallel gait. The proposed method relies on the very nature of walking to achieve the independence from walking direction. Three major assumptions have been done: human gait is cyclic; the distances between the bone joints are invariant during the execution of the movement; and the articulated leg motion is approximately planar, since almost all of the perceived motion is contained within a single limb swing plane. The method has been tested on several subjects walking freely along six different directions in a small enclosed area. The results show that recognition can be achieved without calibration and without dependence on view direction. The obtained results are particularly encouraging for future system development and for its application in real surveillance scenarios

Split-screen single-camera stereoscopic PIV application to a turbulent confined swirling layer with free surface

An annular liquid wall jet, or vortex tube, generated by helical injection inside a tube is studied experimentally as a possible means of fusion reactor shielding. The hollow confined vortex/swirling layer exhibits simultaneously all the complexities of swirling turbulence, free surface, droplet formation, bubble entrapment; all posing challenging diagnostic issues. The construction of flow apparatus and the choice of working liquid and seeding particles facilitate unimpeded optical access to the flow field. A split-screen, single-camera stereoscopic particle image velocimetry (SPIV) scheme is employed for flow field characterization. Image calibration and free surface identification issues are discussed. The interference in measurements of laser beam reflection at the interface are identified and discussed. Selected velocity measurements and turbulence statistics are presented at Re_λ = 70 (Re = 3500 based on mean layer thickness)