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-

Live Demonstration: On the distance estimation of moving targets with a Stereo-Vision AER system

Distance calculation is always one of the most important goals in a digital stereoscopic vision system. In an AER system this goal is very important too, but it cannot be calculated as accurately as we would like. This demonstration shows a first approximation in this field, using a disparity algorithm between both retinas. The system can make a distance approach about a moving object, more specifically, a qualitative estimation. Taking into account the stereo vision system features, the previous retina positioning and the very important Hold&Fire building block, we are able to make a correlation between the spike rate of the disparity and the distance.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0

A FPGA Spike-Based Robot Controlled with Neuro-inspired VITE

This paper presents a spike-based control system applied to a fixed robotic platform. Our aim is to take a step forward to a future complete spikes processing architecture, from vision to direct motor actuation. This paper covers the processing and actuation layer over an anthropomorphic robot. In this way, the processing layer uses the neuro-inspired VITE algorithm, for reaching a target, based on PFM taking advantage of spike system information: its frequency. Thus, all the blocks of the system are based on spikes. Each layer is implemented within a FPGA board and spikes communication is codified under the AER protocol. The results show an accurate behavior of the robotic platform with 6-bit resolution for a 130º range per joint, and an automatic speed control of the algorithm. Up to 96 motor controllers could be integrated in the same FPGA, allowing the positioning and object grasping by more complex anthropomorphic robots.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Ministerio de Economía y Competitividad TEC2012-37868-C04-0

Tracking and Vertexing with a Thin CMOS Pixel Beam Telescope

We present results of a study of charged particle track and vertex reconstruction with a beam telescope made of four layers of 50 micron-thin CMOS monolithic pixel sensors using the 120 GeV protons at the FNAL Meson Test Beam Facility. We compare our results to the performance requirements of a future e+e- linear collider in terms of particle track extrapolation and vertex reconstruction accuracies.Comment: 9 pages, 7 figures submitted to Nuclear Instruments and Methods

Interferometric scattering enables fluorescence-free electrokinetic trapping of single nanoparticles in free solution

Anti-Brownian traps confine single particles in free solution by closed-loop feedback forces that directly counteract Brownian motion. The extended-duration measurement of trapped objects allows detailed characterization of photophysical and transport properties, as well as observation of infrequent or rare dynamics. However, this approach has been generally limited to particles that can be tracked by fluorescent emission. Here we present the Interferometric Scattering Anti-Brownian ELectrokinetic trap (ISABEL trap), which uses interferometric scattering rather than fluorescence to monitor particle position. By decoupling the ability to track (and therefore trap) a particle from collection of its spectroscopic data, the ISABEL trap enables confinement and extended study of single particles that do not fluoresce, that only weakly fluoresce, or which exhibit intermittent fluorescence or photobleaching. This new technique significantly expands the range of nanoscale objects that may be investigated at the single-particle level in free solution.Comment: Manuscript and SI; videos available upon reques