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

A biologically inspired spiking model of visual processing for image feature detection

To enable fast reliable feature matching or tracking in scenes, features need to be discrete and meaningful, and hence edge or corner features, commonly called interest points are often used for this purpose. Experimental research has illustrated that biological vision systems use neuronal circuits to extract particular features such as edges or corners from visual scenes. Inspired by this biological behaviour, this paper proposes a biologically inspired spiking neural network for the purpose of image feature extraction. Standard digital images are processed and converted to spikes in a manner similar to the processing that transforms light into spikes in the retina. Using a hierarchical spiking network, various types of biologically inspired receptive fields are used to extract progressively complex image features. The performance of the network is assessed by examining the repeatability of extracted features with visual results presented using both synthetic and real images

END-TO-END PREDICTION OF WELD PENETRATION IN REAL TIME BASED ON DEEP LEARNING

Welding is an important joining technique that has been automated/robotized. In automated/robotic welding applications, however, the parameters are preset and are not adaptively adjusted to overcome unpredicted disturbances, which cause these applications to not be able to meet the standards from welding/manufacturing industry in terms of quality, efficiency, and individuality. Combining information sensing and processing with traditional welding techniques is a significant step toward revolutionizing the welding industry. In practical welding, the weld penetration as measured by the back-side bead width is a critical factor when determining the integrity of the weld produced. However, the back-side bead width is difficult to be directly monitored during manufacturing because it occurs underneath the surface of the welded workpiece. Therefore, predicting back-side bead width based on conveniently sensible information from the welding process is a fundamental issue in intelligent welding. Traditional research methods involve an indirect process that includes defining and extracting key characteristic information from the sensed data and building a model to predict the target information from the characteristic information. Due to a lack of feature information, the cumulative error of the extracted information and the complex sensing process directly affect prediction accuracy and real-time performance. An end-to-end, data-driven prediction system is proposed to predict the weld penetration status from top-side images during welding. In this method, a passive-vision sensing system with two cameras to simultaneously monitor the top-side and back-bead information is developed. Then the weld joints are classified into three classes (i.e., under penetration, desirable penetration, and excessive penetration) according to the back-bead width. Taking the weld pool-arc images as inputs and corresponding penetration statuses as labels, an end-to-end convolutional neural network (CNN) is designed and trained so the features are automatically defined and extracted. In order to increase accuracy and training speed, a transfer learning approach based on a residual neural network (ResNet) is developed. This ResNet-based model is pre-trained on an ImageNet dataset to process a better feature-extracting ability, and its fully connected layers are modified based on our own dataset. Our experiments show that this transfer learning approach can decrease training time and improve performance. Furthermore, this study proposes that the present weld pool-arc image is fused with two previous images that were acquired 1/6s and 2/6s earlier. The fused single image thus reflects the dynamic welding phenomena, and prediction accuracy is significantly improved with the image-sequence data by fusing temporal information to the input layer of the CNN (early fusion). Due to the critical role of weld penetration and the negligible impact on system implementation, this method represents major progress in the field of weld-penetration monitoring and is expected to provide more significant improvements during welding using pulsed current where the process becomes highly dynamic

A Hybrid CMOS-Memristor Spiking Neural Network Supporting Multiple Learning Rules

Artificial intelligence (AI) is changing the way computing is performed to cope with real-world, ill-defined tasks for which traditional algorithms fail. AI requires significant memory access, thus running into the von Neumann bottleneck when implemented in standard computing platforms. In this respect, low-latency energy-efficient in-memory computing can be achieved by exploiting emerging memristive devices, given their ability to emulate synaptic plasticity, which provides a path to design large-scale brain-inspired spiking neural networks (SNNs). Several plasticity rules have been described in the brain and their coexistence in the same network largely expands the computational capabilities of a given circuit. In this work, starting from the electrical characterization and modeling of the memristor device, we propose a neuro-synaptic architecture that co-integrates in a unique platform with a single type of synaptic device to implement two distinct learning rules, namely, the spike-timing-dependent plasticity (STDP) and the Bienenstock-Cooper-Munro (BCM). This architecture, by exploiting the aforementioned learning rules, successfully addressed two different tasks of unsupervised learning

TOWARD INTELLIGENT WELDING BY BUILDING ITS DIGITAL TWIN

To meet the increasing requirements for production on individualization, efficiency and quality, traditional manufacturing processes are evolving to smart manufacturing with the support from the information technology advancements including cyber-physical systems (CPS), Internet of Things (IoT), big industrial data, and artificial intelligence (AI). The pre-requirement for integrating with these advanced information technologies is to digitalize manufacturing processes such that they can be analyzed, controlled, and interacted with other digitalized components. Digital twin is developed as a general framework to do that by building the digital replicas for the physical entities. This work takes welding manufacturing as the case study to accelerate its transition to intelligent welding by building its digital twin and contributes to digital twin in the following two aspects (1) increasing the information analysis and reasoning ability by integrating deep learning; (2) enhancing the human user operative ability to physical welding manufacturing via digital twins by integrating human-robot interaction (HRI). Firstly, a digital twin of pulsed gas tungsten arc welding (GTAW-P) is developed by integrating deep learning to offer the strong feature extraction and analysis ability. In such a system, the direct information including weld pool images, arc images, welding current and arc voltage is collected by cameras and arc sensors. The undirect information determining the welding quality, i.e., weld joint top-side bead width (TSBW) and back-side bead width (BSBW), is computed by a traditional image processing method and a deep convolutional neural network (CNN) respectively. Based on that, the weld joint geometrical size is controlled to meet the quality requirement in various welding conditions. In the meantime, this developed digital twin is visualized to offer a graphical user interface (GUI) to human users for their effective and intuitive perception to physical welding processes. Secondly, in order to enhance the human operative ability to the physical welding processes via digital twins, HRI is integrated taking virtual reality (VR) as the interface which could transmit the information bidirectionally i.e., transmitting the human commends to welding robots and visualizing the digital twin to human users. Six welders, skilled and unskilled, tested this system by completing the same welding job but demonstrate different patterns and resulted welding qualities. To differentiate their skill levels (skilled or unskilled) from their demonstrated operations, a data-driven approach, FFT-PCA-SVM as a combination of fast Fourier transform (FFT), principal component analysis (PCA), and support vector machine (SVM) is developed and demonstrates the 94.44% classification accuracy. The robots can also work as an assistant to help the human welders to complete the welding tasks by recognizing and executing the intended welding operations. This is done by a developed human intention recognition algorithm based on hidden Markov model (HMM) and the welding experiments show that developed robot-assisted welding can help to improve welding quality. To further take the advantages of the robots i.e., movement accuracy and stability, the role of the robot upgrades to be a collaborator from an assistant to complete a subtask independently i.e., torch weaving and automatic seam tracking in weaving GTAW. The other subtask i.e., welding torch moving along the weld seam is completed by the human users who can adjust the travel speed to control the heat input and ensure the good welding quality. By doing that, the advantages of humans (intelligence) and robots (accuracy and stability) are combined together under this human-robot collaboration framework. The developed digital twin for welding manufacturing helps to promote the next-generation intelligent welding and can be applied in other similar manufacturing processes easily after small modifications including painting, spraying and additive manufacturing

Artificial neural networks for scattered light imaging

Image formation is one of the most important aspect of our everyday life. Conventional optical Imaging (and Sensing) exploits light, reaching the detection system from a target or a scene of interest, mainly unscattered. However, there are many practical situations in which unscattered light may be undetectable, insufficient or mispresented. Nonetheless, if the considered system allows it, it could be still possible to exploit scattered light in order to extract relevant information. Problems arise from the fact that, in these cases, light propagation may undergo severe alterations, thus leading to challenging, and sometimes ill- posed, problems. In this thesis, two main scenarios involving scattered light are studied and addressed by means of artificial neural networks. Over the last period, these powerful data-driven algorithms have been extensively employed in many scientific contexts for their ability to solve even complex problems implicitly. Precisely this characteristic is exploited, in the present work, in a non-line- of-sight scenario in order to simultaneously locate and identify people hidden behind a corner. Moreover, a complex-valued neural network algorithm is implemented and applied to the problem of transmission of images through a multimode fibre, demonstrating high-speed and high-resolution image restoration even without the need for any phase measurements. Finally, due to its formulation based on the physics of multimode fibres, a direct comparison is proposed between the same algorithm and a more standard approach

An investigation into adaptive power reduction techniques for neural hardware

In light of the growing applicability of Artificial Neural Network (ANN) in the signal processing field [1] and the present thrust of the semiconductor industry towards lowpower SOCs for mobile devices [2], the power consumption of ANN hardware has become a very important implementation issue. Adaptability is a powerful and useful feature of neural networks. All current approaches for low-power ANN hardware techniques are ‘non-adaptive’ with respect to the power consumption of the network (i.e. power-reduction is not an objective of the adaptation/learning process). In the research work presented in this thesis, investigations on possible adaptive power reduction techniques have been carried out, which attempt to exploit the adaptability of neural networks in order to reduce the power consumption. Three separate approaches for such adaptive power reduction are proposed: adaptation of size, adaptation of network weights and adaptation of calculation precision. Initial case studies exhibit promising results with significantpower reduction