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arXiv 2025年

作者： D’Angelo, Giulia Clerico, Victoria Bartolozzi, Chiara Hoffmann, Matej Furlong, P. Michael Hadjiivanov, Alexander Department of Cybernetics Faculty of Electrical Engineering Czech Technical University Prague Czech Republic IBM Research Europe Zurich Switzerland Event-Driven Perception for Robotics Italian Institute of Technology Genoa Italy National Research Council of Canada & Systems Design Engineering University of Waterloo Canada Advanced Concepts Team European Space Agency Noordwijk Netherlands Adapsent Leiden Netherlands

Active vision enables dynamic and robust visual perception, offering an alternative to the static, passive nature of feedforward architectures commonly used in computer vision, which depend on large datasets and high computational resources. Biological selective attention mechanisms allow agents to focus on salient Regions of Interest (ROIs), reducing computational demand while maintaining real-time responsiveness. event-based cameras, inspired by the mammalian retina, further enhance this capability by capturing asynchronous scene changes, enabling efficient, low-latency processing. To distinguish moving objects while the event-based camera is also in motion, the agent requires an object motion segmentation mechanism to accurately detect targets and position them at the center of the visual field (fovea). Integrating event-based sensors with neuromorphic algorithms represents a paradigm shift, using Spiking Neural Networks (SNNs) to parallelise computation and adapt to dynamic environments. This work presents a Spiking Convolutional Neural Network (sCNN) bioinspired attention system for selective attention through object motion sensitivity. The system generates events via fixational eye movements using a Dynamic Vision Sensor (DVS) integrated into the Speck neuromorphic hardware, mounted on a Pan-Tilt unit, to identify the ROI and saccade toward it. The system, characterised using ideal gratings and benchmarked against the event Camera Motion Segmentation Dataset (EVIMO), reaches a mean IoU of 82.2% and a mean SSIM of 96% in multi-object motion segmentation. Additionally, the detection of salient objects reaches an accuracy of 88.8% in office scenarios and 89.8% in challenging indoor and outdoor low-light conditions, as evaluated on the event-Assisted Low-Light Video Object Segmentation Dataset (LLE-VOS). A real-time demonstrator showcases the system’s capabilities of detecting the salient object through object motion sensitivity in 0.124 s in dynamic scenes. Its l

关键词： Eye movements

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Unlocking Static Images for Training event-driven Neural Networks 8

Unlocking Static Images for Training Event-driven Neural Net...

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8th International Conference on event-Based Control, Communication, and Signal Processing, EBCCSP 2022

作者： Carissimi, Nicolo Goyal, Gaurvi Pietro, Franco Di Bartolozzi, Chiara Glover, Arren Italian Institute of Technology Event-driven Perception for Robotics Genova Italy

ISBN: (纸本)9781665453493

event driven cameras have the potential to revolutionise the real-time visual sensory processing paradigm. These asynchronous sensors detect change in the environment with low latency and high dynamic range, allowing for orders of magnitude faster systems than the state of the art using intensity cameras. On the other hand, deep artificial neural networks have refashioned machine vision in the last decade, greatly expanding the reach of viable tasks, supported by the creation of many large scale image datasets. In this work, we present a modality to leverage these large scale datasets for the purpose of training off-the-shelf deep learning architectures and re-appropriating them for event-based tasks. To this end, we describe an event representation, EROS, and a method to convert images to an EROS-like representation such that image datasets can train neural networks for event driven applications. © 2022 IEEE.

关键词： Cameras

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MoveEnet: Online High-Frequency Human Pose Estimation with an event Camera

MoveEnet: Online High-Frequency Human Pose Estimation with a...

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2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2023

作者： Goyal, Gaurvi Di Pietro, Franco Carissimi, Nicolo Glover, Arren Bartolozzi, Chiara Event-Driven Perception for Robotics Istituto Italiano di Tecnologia Italy

ISBN: (纸本)9798350302493

Human Pose Estimation (HPE) is crucial as a building block for tasks that are based on the accurate understanding of human position, pose and movements. Therefore, accuracy and efficiency in this block echo throughout a system, making it important to find efficient methods, that run at fast rates for online applications. The state of the art for mainstream sensors has made considerable advances, but event camera based HPE is still in its infancy. event cameras boast high rates of data capture in a compact data structure, with advantages like high dynamic range and low power consumption. In this work, we present a system for a high frequency estimation of 2D, single-person Human Pose with event cameras. We provide an online system, that can be paired directly with an event camera to obtain high accuracy in real time. For quantitative results, we present our results on two large scale datasets, DHP19 and event-Human 3.6m. The system is robust to variance in the resolution of the camera and can run at up to 100Hz and an accuracy 89%. © 2023 IEEE.

关键词： Cameras

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Fast Trajectory End-Point Prediction with event Cameras for Reactive Robot Control

Fast Trajectory End-Point Prediction with Event Cameras for ...

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2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2023

作者： Monforte, Marco Gava, Luna Iacono, Massimiliano Glover, Arren Bartolozzi, Chiara Event-Driven Perception for Robotics Istituto Italiano di Tecnologia Italy

ISBN: (纸本)9798350302493

Prediction can be crucial for tasks with tight time constraints if a robot has limited speed and power. A low-latency, high-frequency perception system can reduce the time needed to converge on the expectation of the future state of the world, giving the robot additional time to act - or to choose a safer action. In this paper, we exploit event cameras for asynchronous motion-driven sampling, inherent data compression, and sub-millisecond latency to reduce the convergence time of a data-driven trajectory prediction algorithm. As a use-case, we use a Panda robotic arm to intercept a ball bouncing on a table. To predict the interception point as early as possible, and cope with the intrinsic variability of trajectory length - that cannot be defined a-priori for event cameras - we adopt a Stateful Long Short-Term Memory network, that asynchronously updates the prediction for each incoming point of the trajectory and does not require a predefined, fixed length input. We adopt a sim-to-real methodology in which the network is first trained on simulated data and then fine-tuned on real trajectories. Experimental results demonstrate that the dense spatial sampling performed by event cameras significantly increases the number of intercepted trajectories compared to a fixed temporal sampling typical of traditional "frame-based"cameras. Results motivate further exploration of the use of event cameras for prediction in higher-complexity robotic tasks. © 2023 IEEE.

关键词： Cameras

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A neuromorphic electronic artist for robotic painting

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Scientific Reports 2025年第1期15卷 1-13页

作者： Lioba Schürmann Liat Grayver Giacomo Indiveri Giulia D’Angelo Chiara Bartolozzi Institute of Neuroinformatics University of Zurich and ETH Zurich Switzerland Collegium Helveticum Zurich Switzerland Event-Driven Perception for Robotics Italian Institute of Technology Genoa Italy Department of Cybernetics Faculty of Electrical Engineering Czech Technical University Prague Czech Republic

Recent advances in deep learning have sparked interest in AI-generated art, including robot-assisted painting. Traditional painting machines use static images and offline processing without considering the dynamic nature of painting. Neuromorphic cameras, which capture light intensity changes through asynchronous events, and mixed-signal neuromorphic processors, which implement biologically plausible spiking neural networks, offer a promising alternative. In this work, we present a robotic painting system comprising a 6-DOF robotic arm, event-based input from a Dynamic Vision Sensor (DVS) camera and a neuromorphic processor to produce dynamic brushstrokes, and tactile feedback from a force-torque sensor to compensate for brush deformation. The system receives DVS events representing the desired brushstroke trajectory and maps these events onto the processor’s neurons to compute joint velocities in close-loop. The variability in the input’s noisy event streams and the processor’s analog circuits reproduces the heterogeneity of human brushstrokes. Tested in a real-world setting, the system successfully generated diverse physical brushstrokes. This network marks a first step towards a fully spiking robotic controller with ultra-low latency responsiveness, applicable to any robotic task requiring real-time closed-loop adaptive control.

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MoveEnet: Online High-Frequency Human Pose Estimation with an event Camera

MoveEnet: Online High-Frequency Human Pose Estimation with a...

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Gaurvi Goyal Franco Di Pietro Nicolo Carissimi Arren Glover Chiara Bartolozzi Event-Driven Perception for Robotics Istituto Italiano di Tecnologia Italy

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Fast Trajectory End-Point Prediction with event Cameras for Reactive Robot Control

Fast Trajectory End-Point Prediction with Event Cameras for ...

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Marco Monforte Luna Gava Massimiliano Iacono Arren Glover Chiara Bartolozzi Event-Driven Perception for Robotics Istituto Italiano di Tecnologia Italy

Prediction can be crucial for tasks with tight time constraints if a robot has limited speed and power. A low-latency, high-frequency perception system can reduce the time needed to converge on the expectation of the future state of the world, giving the robot additional time to act - or to choose a safer action. In this paper, we exploit event cameras for asynchronous motion-driven sampling, inherent data compression, and sub-millisecond latency to reduce the convergence time of a data-driven trajectory prediction algorithm. As a use-case, we use a Panda robotic arm to intercept a ball bouncing on a table. To predict the interception point as early as possible, and cope with the intrinsic variability of trajectory length - that cannot be defined a-priori for event cameras - we adopt a Stateful Long Short-Term Memory network, that asynchronously updates the prediction for each incoming point of the trajectory and does not require a predefined, fixed length input. We adopt a sim-to-real methodology in which the network is first trained on simulated data and then fine-tuned on real trajectories. Experimental results demonstrate that the dense spatial sampling performed by event cameras significantly increases the number of intercepted trajectories compared to a fixed temporal sampling typical of traditional "frame-based" cameras. Results motivate further exploration of the use of event cameras for prediction in higher-complexity robotic tasks.

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EDOPT: event-camera 6-DoF Dynamic Object Pose Tracking

EDOPT: Event-camera 6-DoF Dynamic Object Pose Tracking

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IEEE International Conference on robotics and Automation (ICRA)

作者： Arren Glover Luna Gava Zhichao Li Chiara Bartolozzi Event-Driven Perception for Robotics Istituto Italiano di Tecnologia Italy

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

High-frequency, low-latency, 6-DoF object tracking is useful for grasping objects in motion, taking robots beyond pick-and-place tasks. We propose using an event-camera for tracking the objects to leverage the low-latency and continuous (i.e. not fixed-rate) data capture for high-frequency tracking. We propose the EDOPT algorithm, which maintains real-time operation with a variable event-rate (which occurs due to variation in camera velocity and scene texture) and avoids frame-jumps and motion-blur which are problematic in traditional computer vision solutions. EDOPT uses a strong object prior, leading to a novel solution possible only with the event-camera. To our knowledge, this is the first method for 6-DoF object pose estimation with only the event-camera. The proposed method achieves comparable results to a state-of-the-art DNN technique that fuses frames, depth, and events. We demonstrate smooth, online object pose tracking with a live camera feed at > 300 Hz.

关键词： Training Heuristic algorithms Robot vision systems Pose estimation Cameras 6-DOF Real-time systems

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[WIP] Unlocking Static Images for Training event-driven Neural Networks

[WIP] Unlocking Static Images for Training Event-driven Neur...

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International Conference on event-based Control, Communication, and Signal Processing (EBCCSP)

作者： Nicolò Carissimi Gaurvi Goyal Franco Di Pietro Chiara Bartolozzi Arren Glover Event-driven Perception for Robotics Italian Institute of Technology Genova Italy

ISBN: (数字)9781665453493

ISBN: (纸本)9781665453509

关键词： Training Visualization Statistical analysis Machine vision Signal processing Cameras Sensor systems

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LuvHarris: A practical corner detector for event-cameras

arXiv

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arXiv 2021年

作者： Glover, Arren Dinale, Aiko Rosa, Leandro De Souza Bamford, Simeon Bartolozzi, Chiara Event-Driven Perception for Robotics group Istituto Italiano di Tecnologia Italy

There have been a number of corner detection methods proposed for event cameras in the last years, since event-driven computer vision has become more accessible. Current state-of-the-art have either unsatisfactory accuracy or real-time performance when considered for practical use, for example when a camera is randomly moved in an unconstrained environment. In this paper, we present yet another method to perform corner detection, dubbed look-up event-Harris (luvHarris), that employs the Harris algorithm for high accuracy but manages an improved event throughput. Our method has two major contributions, 1. a novel "threshold ordinal event-surface" that removes certain tuning parameters and is well suited for Harris operations, and 2. an implementation of the Harris algorithm such that the computational load per event is minimised and computational heavy convolutions are performed only "as-fast-as-possible", i.e. only as computational resources are available. The result is a practical, real-time, and robust corner detector that runs more than 2.6x the speed of current state-of-the-art;a necessity when using high-resolution event-camera in real-time. We explain the considerations taken for the approach, compare the algorithm to current state-of-the-art in terms of computational performance and detection accuracy, and discuss the validity of the proposed approach for event cameras. © 2021, CC BY.

关键词： Cameras

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