000200447 001__ 200447
000200447 005__ 20181203023541.0
000200447 0247_ $$2doi$$a10.3389/fnins.2013.00223
000200447 022__ $$a1662-453X
000200447 037__ $$aARTICLE
000200447 245__ $$aRobotic goalie with 3 ms reaction time at 4% CPU load using event-based dynamic vision sensor
000200447 260__ $$c2013
000200447 269__ $$a2013
000200447 336__ $$aJournal Articles
000200447 520__ $$aConventional vision-based robotic systems that must operate quickly require high video frame rates and consequently high computational costs. Visual response latencies are lower-bound by the frame period, e.g., 20 ms for 50 Hz frame rate. This paper shows how an asynchronous neuromorphic dynamic vision sensor (DVS) silicon retina is used to build a fast self-calibrating robotic goalie, which offers high update rates and low latency at low CPU load. Independent and asynchronous per pixel illumination change events from the DVS signify moving objects and are used in software to track multiple balls. Motor actions to block the most “threatening” ball are based on measured ball positions and velocities. The goalie also sees its single-axis goalie arm and calibrates the motor output map during idle periods so that it can plan open-loop arm movements to desired visual locations. Blocking capability is about 80% for balls shot from 1 m from the goal even with the fastest-shots, and approaches 100% accuracy when the ball does not beat the limits of the servo motor to move the arm to the necessary position in time. Running with standard USB buses under a standard preemptive multitasking operating system (Windows), the goalie robot achieves median update rates of 550 Hz, with latencies of 2.2 ± 2 ms from ball movement to motor command at a peak CPU load of less than 4%. Practical observations and measurements of USB device latency are provided1.
000200447 6531_ $$aAsynchronous vision sensor
000200447 6531_ $$aAddress-event representation
000200447 6531_ $$aAER
000200447 6531_ $$aHigh-speed visually guided robotics
000200447 6531_ $$aHigh framerate
000200447 6531_ $$aNeuromorphic system
000200447 6531_ $$aSoccer
000200447 700__ $$aDelbruck, Tobi
000200447 700__ $$aLang, Manuel
000200447 773__ $$j7$$tFrontiers in Neuroscience$$q223
000200447 909C0 $$0252409$$pNCCR-ROBOTICS$$xU12367
000200447 909CO $$particle$$ooai:infoscience.tind.io:200447
000200447 917Z8 $$x221818
000200447 937__ $$aEPFL-ARTICLE-200447
000200447 973__ $$rREVIEWED$$sPUBLISHED$$aOTHER
000200447 980__ $$aARTICLE