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dc.contributor.author
Delbrück, Tobias
dc.contributor.author
Lang, Manuel
dc.date.accessioned
2019-04-04T15:17:28Z
dc.date.available
2017-06-11T00:54:00Z
dc.date.available
2019-04-04T15:17:28Z
dc.date.issued
2013-12-05
dc.identifier.issn
1662-453X
dc.identifier.issn
1662-4548
dc.identifier.other
10.3389/fnins.2013.00223
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/75620
dc.identifier.doi
10.3929/ethz-b-000075620
dc.description.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 idle periods so that it can plan open-loop arm movements to desired visual locations. Blocking capability is about 80% for balls shot from 1 m from the goal even with the fastest-shots, and approaches 100% accuracy when the ball does not beat the limits of the servo motor to move the arm to the necessary position in time. Running with standard USB buses under a standard preemptive multitasking operating system (Windows), the goalie robot achieves median update rates of 550 Hz, with latencies of 2.2 ± 2 ms from ball movement to motor command at a peak CPU load of less than 4%. Practical observations and measurements of USB device latency are provided1.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Frontiers Media S.A.
en_US
dc.rights.uri
http://creativecommons.org/licenses/by/3.0/
dc.subject
Address-event representation
en_US
dc.subject
AER
en_US
dc.subject
Asynchronous vision sensor
en_US
dc.subject
High frame rate
en_US
dc.subject
High-speed visually guided robotics
en_US
dc.subject
Neuromorphic system
en_US
dc.subject
Soccer
en_US
dc.title
Robotic goalie with 3 ms reaction time at 4% CPU load using event-based dynamic vision sensor
en_US
dc.type
Journal Article
dc.rights.license
Creative Commons Attribution 3.0 Unported
dc.date.published
2013-11-21
ethz.journal.title
Frontiers in Neuroscience
ethz.journal.issue
7
en_US
ethz.journal.abbreviated
Front Neurosci
ethz.pages.start
00223
en_US
ethz.size
7 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.identifier.scopus
ethz.identifier.nebis
009497874
ethz.publication.place
Lausanne
en_US
ethz.publication.status
published
en_US
ethz.leitzahl.certified
03453 - Douglas, Rodney J.
ethz.date.deposited
2017-06-11T00:54:44Z
ethz.source
ECIT
ethz.identifier.importid
imp59365145dd70574088
ethz.ecitpid
pub:119400
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2017-07-19T12:21:03Z
ethz.rosetta.lastUpdated
2019-04-04T15:17:35Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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