7 research outputs found
A robotic vision system emulating fixational eye movements and retinal sampling
Recent studies on visual physiology have suggested that fixational eye movements contribute to the information processing function of the retina. In this study, we built a robotic vision system that emulates the characteristics of fixational eye movements and retinal sampling as an assistant tool for clarifying information processing through the collaboration of eye movements and neural circuits. The proposed robotic vision system consists of two galvanometers, a field-programmable gate array (FPGA) board, and a high-speed, high-resolution camera. We measured the frequency response of this robotic vision system, and the results showed that the system satisfied the requirements for emulating the frequency characteristics of biological eye movements. In addition, we generated command signals in the FPGA to emulate biological eye movements and confirmed the satisfactory operation of the system.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japa
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
Backwards is the way forward: feedback in the cortical hierarchy predicts the expected future
Clark offers a powerful description of the brain as a prediction machine, which offers progress on two distinct levels. First, on an abstract conceptual level, it provides a unifying framework for perception, action, and cognition (including subdivisions such as attention, expectation, and imagination). Second, hierarchical prediction offers progress on a concrete descriptive level for testing and constraining conceptual elements and mechanisms of predictive coding models (estimation of predictions, prediction errors, and internal models)
Towards a Brain-inspired Information Processing System: Modelling and Analysis of Synaptic Dynamics: Towards a Brain-inspired InformationProcessing System: Modelling and Analysis ofSynaptic Dynamics
Biological neural systems (BNS) in general and the central nervous system (CNS) specifically
exhibit a strikingly efficient computational power along with an extreme flexible and adaptive basis
for acquiring and integrating new knowledge. Acquiring more insights into the actual mechanisms
of information processing within the BNS and their computational capabilities is a core objective
of modern computer science, computational sciences and neuroscience. Among the main reasons
of this tendency to understand the brain is to help in improving the quality of life of people suffer
from loss (either partial or complete) of brain or spinal cord functions. Brain-computer-interfaces
(BCI), neural prostheses and other similar approaches are potential solutions either to help these
patients through therapy or to push the progress in rehabilitation. There is however a significant
lack of knowledge regarding the basic information processing within the CNS. Without a better
understanding of the fundamental operations or sequences leading to cognitive abilities, applications
like BCI or neural prostheses will keep struggling to find a proper and systematic way to
help patients in this regard. In order to have more insights into these basic information processing
methods, this thesis presents an approach that makes a formal distinction between the essence
of being intelligent (as for the brain) and the classical class of artificial intelligence, e.g. with
expert systems. This approach investigates the underlying mechanisms allowing the CNS to be
capable of performing a massive amount of computational tasks with a sustainable efficiency and
flexibility. This is the essence of being intelligent, i.e. being able to learn, adapt and to invent.
The approach used in the thesis at hands is based on the hypothesis that the brain or specifically a
biological neural circuitry in the CNS is a dynamic system (network) that features emergent capabilities.
These capabilities can be imported into spiking neural networks (SNN) by emulating the
dynamic neural system. Emulating the dynamic system requires simulating both the inner workings
of the system and the framework of performing the information processing tasks. Thus, this
work comprises two main parts. The first part is concerned with introducing a proper and a novel
dynamic synaptic model as a vital constitute of the inner workings of the dynamic neural system.
This model represents a balanced integration between the needed biophysical details and being
computationally inexpensive. Being a biophysical model is important to allow for the abilities of
the target dynamic system to be inherited, and being simple is needed to allow for further implementation
in large scale simulations and for hardware implementation in the future. Besides, the
energy related aspects of synaptic dynamics are studied and linked to the behaviour of the networks
seeking for stable states of activities. The second part of the thesis is consequently concerned with
importing the processing framework of the dynamic system into the environment of SNN. This
part of the study investigates the well established concept of binding by synchrony to solve the information binding problem and to proposes the concept of synchrony states within SNN. The
concepts of computing with states are extended to investigate a computational model that is based
on the finite-state machines and reservoir computing. Biological plausible validations of the introduced
model and frameworks are performed. Results and discussions of these validations indicate
that this study presents a significant advance on the way of empowering the knowledge about the
mechanisms underpinning the computational power of CNS. Furthermore it shows a roadmap on
how to adopt the biological computational capabilities in computation science in general and in
biologically-inspired spiking neural networks in specific. Large scale simulations and the development
of neuromorphic hardware are work-in-progress and future work. Among the applications
of the introduced work are neural prostheses and bionic automation systems