TY - GEN
T1 - Event-based target tracking control for a snake robot using a dynamic vision sensor
AU - Jiang, Zhuangyi
AU - Bing, Zhenshan
AU - Huang, Kai
AU - Chen, Guang
AU - Cheng, Long
AU - Knoll, Alois
N1 - Publisher Copyright:
© Springer International Publishing AG 2017.
PY - 2017
Y1 - 2017
N2 - Dynamic Vision Sensor (DVS) is a promising neuromorphic vision sensor for autonomous locomotion control of mobile robots, as the DVS acquires visual information by mimicking retina to sense and encode the world as neural signals. In this paper, we present an autonomous target detecting and tracking control approach for a snake-like robot with a monocular DVS. By using Hough transform based on the Spiking Neural Network (SNN), the target pole is detected as two parallel lines from the event-based visual input. Then a depth estimation method based on the pose and motion of the robot is proposed. Furthermore, by combining the periodic motion feature of the snake-like robot, an adaptive tracking method based on the estimated depth information is introduced. Experiments are conducted on a snake-like robot to demonstrate the practicality and accuracy of our proposed method to track a target pole dynamically with a monocular DVS.
AB - Dynamic Vision Sensor (DVS) is a promising neuromorphic vision sensor for autonomous locomotion control of mobile robots, as the DVS acquires visual information by mimicking retina to sense and encode the world as neural signals. In this paper, we present an autonomous target detecting and tracking control approach for a snake-like robot with a monocular DVS. By using Hough transform based on the Spiking Neural Network (SNN), the target pole is detected as two parallel lines from the event-based visual input. Then a depth estimation method based on the pose and motion of the robot is proposed. Furthermore, by combining the periodic motion feature of the snake-like robot, an adaptive tracking method based on the estimated depth information is introduced. Experiments are conducted on a snake-like robot to demonstrate the practicality and accuracy of our proposed method to track a target pole dynamically with a monocular DVS.
KW - Dynamic vision sensor
KW - Hough transform
KW - Neuromorphic snake robot
KW - Spiking neural network
KW - Target tracking
UR - http://www.scopus.com/inward/record.url?scp=85035140512&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-70136-3_12
DO - 10.1007/978-3-319-70136-3_12
M3 - Conference contribution
AN - SCOPUS:85035140512
SN - 9783319701356
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 111
EP - 121
BT - Neural Information Processing - 24th International Conference, ICONIP 2017, Proceedings
A2 - Liu, Derong
A2 - Xie, Shengli
A2 - Zhao, Dongbin
A2 - Li, Yuanqing
A2 - El-Alfy, El-Sayed M.
PB - Springer Verlag
T2 - 24th International Conference on Neural Information Processing, ICONIP 2017
Y2 - 14 November 2017 through 18 November 2017
ER -