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O(N)-Space Spatiotemporal Filter for Reducing Noise in Neuromorphic Vision Sensors
Neuromorphic vision sensors are an emerging technology inspired by how retina processing images. A neuromorphic vision sensor only reports when a pixel value changes rather than continuously outputting the value every frame as is done in an 'ordinary' Active Pixel Sensor (ASP). This move from a continuously sampled system to an asynchronous event driven one effectively allows for much faster sampling rates; it also fundamentally changes the sensor interface. In particular, these sensors are highly sensitive to noise, as any additional event reduces the bandwidth, and thus effectively lowers the sampling rate. In this work we introduce a novel spatiotemporal filter with O(N)O(N) memory complexity for reducing background activity noise in neuromorphic vision sensors. Our design consumes 10× less memory and has 100× reduction in error compared to previous designs. Our filter is also capable of recovering real events and can pass up to 180 percent more real events
Real-time Tracking Based on Neuromrophic Vision
Real-time tracking is an important problem in computer vision in which most
methods are based on the conventional cameras. Neuromorphic vision is a concept
defined by incorporating neuromorphic vision sensors such as silicon retinas in
vision processing system. With the development of the silicon technology,
asynchronous event-based silicon retinas that mimic neuro-biological
architectures has been developed in recent years. In this work, we combine the
vision tracking algorithm of computer vision with the information encoding
mechanism of event-based sensors which is inspired from the neural rate coding
mechanism. The real-time tracking of single object with the advantage of high
speed of 100 time bins per second is successfully realized. Our method
demonstrates that the computer vision methods could be used for the
neuromorphic vision processing and we can realize fast real-time tracking using
neuromorphic vision sensors compare to the conventional camera
Converting Static Image Datasets to Spiking Neuromorphic Datasets Using Saccades
Creating datasets for Neuromorphic Vision is a challenging task. A lack of
available recordings from Neuromorphic Vision sensors means that data must
typically be recorded specifically for dataset creation rather than collecting
and labelling existing data. The task is further complicated by a desire to
simultaneously provide traditional frame-based recordings to allow for direct
comparison with traditional Computer Vision algorithms. Here we propose a
method for converting existing Computer Vision static image datasets into
Neuromorphic Vision datasets using an actuated pan-tilt camera platform. Moving
the sensor rather than the scene or image is a more biologically realistic
approach to sensing and eliminates timing artifacts introduced by monitor
updates when simulating motion on a computer monitor. We present conversion of
two popular image datasets (MNIST and Caltech101) which have played important
roles in the development of Computer Vision, and we provide performance metrics
on these datasets using spike-based recognition algorithms. This work
contributes datasets for future use in the field, as well as results from
spike-based algorithms against which future works can compare. Furthermore, by
converting datasets already popular in Computer Vision, we enable more direct
comparison with frame-based approaches.Comment: 10 pages, 6 figures in Frontiers in Neuromorphic Engineering, special
topic on Benchmarks and Challenges for Neuromorphic Engineering, 2015 (under
review
A review of current neuromorphic approaches for vision, auditory, and olfactory sensors
Conventional vision, auditory, and olfactory sensors generate large volumes of redundant data and as a result tend to consume excessive power. To address these shortcomings, neuromorphic sensors have been developed. These sensors mimic the neuro-biological architecture of sensory organs using aVLSI (analog Very Large Scale Integration) and generate asynchronous spiking output that represents sensing information in ways that are similar to neural signals. This allows for much lower power consumption due to an ability to extract useful sensory information from sparse captured data. The foundation for research in neuromorphic sensors was laid more than two decades ago, but recent developments in understanding of biological sensing and advanced electronics, have stimulated research on sophisticated neuromorphic sensors that provide numerous advantages over conventional sensors. In this paper, we review the current state-of-the-art in neuromorphic implementation of vision, auditory, and olfactory sensors and identify key contributions across these fields. Bringing together these key contributions we suggest a future research direction for further development of the neuromorphic sensing field
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
Interfacing of neuromorphic vision, auditory and olfactory sensors with digital neuromorphic circuits
The conventional Von Neumann architecture imposes strict constraints on the development of intelligent adaptive systems. The requirements of substantial computing power to process and analyse complex data make such an approach impractical to be used in implementing smart systems.
Neuromorphic engineering has produced promising results in applications such as electronic sensing, networking architectures and complex data processing. This interdisciplinary field takes inspiration from neurobiological architecture and emulates these characteristics using analogue Very Large Scale Integration (VLSI). The unconventional approach of exploiting the non-linear current characteristics of transistors has aided in the development of low-power adaptive systems that can be implemented in intelligent systems. The neuromorphic approach is widely applied in electronic sensing, particularly in vision, auditory, tactile and olfactory sensors. While conventional sensors generate a huge amount of redundant output data, neuromorphic sensors implement the biological concept of spike-based output to generate sparse output data that corresponds to a certain sensing event. The operation principle applied in these sensors supports reduced power consumption with operating efficiency comparable to conventional sensors. Although neuromorphic sensors such as Dynamic Vision Sensor (DVS), Dynamic and Active pixel Vision Sensor (DAVIS) and AEREAR2 are steadily expanding their scope of application in real-world systems, the lack of spike-based data processing algorithms and complex interfacing methods restricts its applications in low-cost standalone autonomous systems.
This research addresses the issue of interfacing between neuromorphic sensors and digital neuromorphic circuits. Current interfacing methods of these sensors are dependent on computers for output data processing. This approach restricts the portability of these sensors, limits their application in a standalone system and increases the overall cost of such systems. The proposed methodology simplifies the interfacing of these sensors with digital neuromorphic processors by utilizing AER communication protocols and neuromorphic hardware developed under the Convolution AER Vision Architecture for Real-time (CAVIAR) project. The proposed interface is simulated using a JAVA model that emulates a typical spikebased output of a neuromorphic sensor, in this case an olfactory sensor, and functions that process this data based on supervised learning. The successful implementation of this simulation suggests that the methodology is a practical solution and can be implemented in hardware. The JAVA simulation is compared to a similar model developed in Nengo, a standard large-scale neural simulation tool.
The successful completion of this research contributes towards expanding the scope of application of neuromorphic sensors in standalone intelligent systems. The easy interfacing method proposed in this thesis promotes the portability of these sensors by eliminating the dependency on computers for output data processing. The inclusion of neuromorphic Field Programmable Gate Array (FPGA) board allows reconfiguration and deployment of learning algorithms to implement adaptable systems. These low-power systems can be widely applied in biosecurity and environmental monitoring. With this thesis, we suggest directions for future research in neuromorphic standalone systems based on neuromorphic olfaction
Bio-Inspired Stereo Vision Calibration for Dynamic Vision Sensors
Many advances have been made in the eld of computer vision. Several recent research trends
have focused on mimicking human vision by using a stereo vision system. In multi-camera systems, a
calibration process is usually implemented to improve the results accuracy. However, these systems generate
a large amount of data to be processed; therefore, a powerful computer is required and, in many cases,
this cannot be done in real time. Neuromorphic Engineering attempts to create bio-inspired systems that
mimic the information processing that takes place in the human brain. This information is encoded using
pulses (or spikes) and the generated systems are much simpler (in computational operations and resources),
which allows them to perform similar tasks with much lower power consumption, thus these processes
can be developed over specialized hardware with real-time processing. In this work, a bio-inspired stereovision
system is presented, where a calibration mechanism for this system is implemented and evaluated
using several tests. The result is a novel calibration technique for a neuromorphic stereo vision system,
implemented over specialized hardware (FPGA - Field-Programmable Gate Array), which allows obtaining
reduced latencies on hardware implementation for stand-alone systems, and working in real time.Ministerio de Economía y Competitividad TEC2016-77785-PMinisterio de Economía y Competitividad TIN2016-80644-
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