Quick and energy-efficient Bayesian computing of binocular disparity using stochastic digital signals

Reconstruction of the tridimensional geometry of a visual scene using the binocular disparity information is an important issue in computer vision and mobile robotics, which can be formulated as a Bayesian inference problem. However, computation of the full disparity distribution with an advanced Bayesian model is usually an intractable problem, and proves computationally challenging even with a simple model. In this paper, we show how probabilistic hardware using distributed memory and alternate representation of data as stochastic bitstreams can solve that problem with high performance and energy efficiency. We put forward a way to express discrete probability distributions using stochastic data representations and perform Bayesian fusion using those representations, and show how that approach can be applied to diparity computation. We evaluate the system using a simulated stochastic implementation and discuss possible hardware implementations of such architectures and their potential for sensorimotor processing and robotics.Comment: Preprint of article submitted for publication in International Journal of Approximate Reasoning and accepted pending minor revision

The constitution of visual perceptual units in the functional architecture of V1

Scope of this paper is to consider a mean field neural model which takes into account the functional neurogeometry of the visual cortex modelled as a group of rotations and translations. The model generalizes well known results of Bressloff and Cowan which, in absence of input, accounts for hallucination patterns. The main result of our study consists in showing that in presence of a visual input, the eigenmodes of the linearized operator which become stable represent perceptual units present in the image. The result is strictly related to dimensionality reduction and clustering problems