104 research outputs found

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

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    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

    A Robot that Autonomously Improves Skills by Evolving Computational Graphs

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    Designing an Interval Type-2 Fuzzy Logic System for Handling Uncertainty Effects in Brain–Computer Interface Classification of Motor Imagery Induced EEG Patterns

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    One of the urgent challenges in the automated analysis and interpretation of electrical brain activity is the effective handling of uncertainties associated with the complexity and variability of brain dynamics, reflected in the nonstationary nature of brain signals such as electroencephalogram (EEG). This poses a severe problem for existing approaches to the classification task within brain–computer interface (BCI) systems. Recently emerged type-2 fuzzy logic (T2FL) methodology has shown a remarkable potential in dealing with uncertain information given limited insight into the nature of the data generating mechanism. The objective of this work is thus to examine the applicability of T2FL approach to the problem of EEG pattern recognition. In particular, the focus is two-fold: i) the design methodology for the interval T2FL system (IT2FLS) that can robustly deal with inter-session as well as within-session manifestations of nonstationary spectral EEG correlates of motor imagery (MI), and ii) the comprehensive examination of the proposed fuzzy classifier in both off-line and on-line EEG classification case studies. The on-line evaluation of the IT2FLS-controlled real-time neurofeedback over multiple recording sessions holds special importance for EEG-based BCI technology. In addition, a retrospective comparative analysis accounting for other popular BCI classifiers such as linear discriminant analysis (LDA), kernel Fisher discriminant (KFD) and support vector machines (SVMs) as well as a conventional type-1 FLS (T1FLS), simulated off-line on the recorded EEGs, has demonstrated the enhanced potential of the proposed IT2FLS approach to robustly handle uncertainty effects in BCI classification

    A Study of Enhanced Robot Autonomy in Telepresence

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    Online Unsupervised Cumulative Learning For Life-Long Robot Operation

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    EEG-Based Communication:A Time Series Prediction Approach

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    Recently, a new technology known as the braincomputer interface (BCI) has received a substantial amount of interest among various research groups worldwide. The human brain can be represented by self-organising and complex biochemical states. Due to continuous neuronal activity in the brain, chaotic electric potential waves are observed in Electroencephalogram (EEG) recordings of the brain. A BCI involves extracting information from the highly complex EEG. This is achieved by obtaining the dominant discriminating features from different EEG signals recorded during specific thought processes. A class of features is usually obtained from each thought process and subsequently a classifier is trained to learn which feature belongs to which class. This ultimately leads to a system that can determine which thoughts belong to which set of EEG signals. This work outlines a novel method which utilises cybernetic intelligence in the form of Neural Networks (NN). Three NNs are coalesced to perform simplified simulations of a number of the characteristic and complex processes that are sub-consciously performed in the human brain. These include prediction, feature extraction and classification. These processes are combined in this system to produce a pattern recognition system which distinguishes between similar complex patterns from a noisy environment with classification accuracy which compares satisfactorily to current reported results. The classification accuracy is achieved by increasing the separability between the features extracted from two EEG signals recorded from subjects during imagination of left and right arm movement

    Biologically inspired intensity and depth image edge extraction

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    In recent years artificial vision research has moved from focusing on the use of only intensity images to include using depth images, or RGB-D combinations due to the recent development of low cost depth cameras. However, depth images require a lot of storage and processing requirements. In addition, it is challenging to extract relevant features from depth images in real-time. Researchers have sought inspiration from biology in order to overcome these challenges resulting in biologically inspired feature extraction methods. By taking inspiration from nature it may be possible to reduce redundancy, extract relevant features, and process an image efficiently by emulating biological visual processes. In this paper, we present a depth and intensity image feature extraction approach that has been inspired by biological vision systems. Through the use of biologically inspired spiking neural networks we emulate functional computational aspects of biological visual systems. Results demonstrate that the proposed bio-inspired artificial vision system has increased performance over existing computer vision feature extraction approaches
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