Event-driven figure-ground organisation model for the humanoid robot iCub.

ABSTRACT: Figure-ground organisation is a perceptual grouping mechanism for detecting objects and boundaries, essential for an agent interacting with the environment. Current figure-ground segmentation methods rely on classical computer vision or deep learning, requiring extensive computational resources, especially during training. Inspired by the primate visual system, we developed a bio-inspired perception system for the neuromorphic robot iCub. The model uses a hierarchical, biologically plausible architecture and event-driven vision to distinguish foreground objects from the background. Unlike classical approaches, event-driven cameras reduce data redundancy and computation. The system has been qualitatively and quantitatively assessed in simulations and with event-driven cameras on iCub in var

SUBMITTER: D'Angelo G 

PROVIDER: S-EPMC11845445 | biostudies-literature | 2025 Feb

REPOSITORIES: biostudies-literature