Robotic goalie with 3 ms reaction time at 4% CPU load using event-based dynamic vision sensor.

ABSTRACT: Conventional vision-based robotic systems that must operate quickly require high video frame rates and consequently high computational costs. Visual response latencies are lower-bound by the frame period, e.g., 20 ms for 50 Hz frame rate. This paper shows how an asynchronous neuromorphic dynamic vision sensor (DVS) silicon retina is used to build a fast self-calibrating robotic goalie, which offers high update rates and low latency at low CPU load. Independent and asynchronous per pixel illumination change events from the DVS signify moving objects and are used in software to track multiple balls. Motor actions to block the most "threatening" ball are based on measured ball positions and velocities. The goalie also sees its single-axis goalie arm and calibrates the motor output map during

SUBMITTER: Delbruck T 

PROVIDER: S-EPMC3836084 | biostudies-literature | 2013

REPOSITORIES: biostudies-literature