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An embedded AER dynamic vision sensor for low-latency pole balancing


Conradt, J; Berner, R; Cook, M; Delbruck, T (2009). An embedded AER dynamic vision sensor for low-latency pole balancing. In: 5th IEEE Workshop on Embedded Computer Vision (ECV09), Kyoto, Japan, Kyoto, Japan, 3 October 2009 - 3 October 2009.

Abstract

Balancing small objects such as a normal pencil on its
tip requires rapid feedback control with latencies on the
order of milliseconds. Here we describe how a pair of
spike-based silicon retina dynamic vision sensors (DVS) is
used to provide fast visual feedback for controlling an
actuated table to balance an ordinary pencil on its tip. Two
DVSs view the pencil from right angles. Movements of the
pencil cause spike address-events (AEs) to be emitted from
the DVSs. These AEs are processed by a 32-bit fixed-point
ARM7 microcontroller (64 MHz, 200mW) on the back side
of each embedded DVS board (eDVS). Each eDVS updates
its estimate of the pencil’s location and angle in 2d space
for each received spike (typically at a rate of 100 kHz) by
applying a continuous tracking method based on spikedriven
fitting to a model of the vertical rod-like shape of the
pencil. Every 2 ms, each eDVS sends the pencil’s tracked
position to a third ARM7-based controller, which computes
pencil location in 3d space and runs a linear PD-controller
to adjust X-Y-position and velocity of the table to maintain
the pencil balanced upright. The actuated table is built
using ordinary high-speed hobby servos. Our system can
balance any small, thin object such as a pencil, pen,
chop-stick, or rod for minutes, in a wide range of light
conditions.

Balancing small objects such as a normal pencil on its
tip requires rapid feedback control with latencies on the
order of milliseconds. Here we describe how a pair of
spike-based silicon retina dynamic vision sensors (DVS) is
used to provide fast visual feedback for controlling an
actuated table to balance an ordinary pencil on its tip. Two
DVSs view the pencil from right angles. Movements of the
pencil cause spike address-events (AEs) to be emitted from
the DVSs. These AEs are processed by a 32-bit fixed-point
ARM7 microcontroller (64 MHz, 200mW) on the back side
of each embedded DVS board (eDVS). Each eDVS updates
its estimate of the pencil’s location and angle in 2d space
for each received spike (typically at a rate of 100 kHz) by
applying a continuous tracking method based on spikedriven
fitting to a model of the vertical rod-like shape of the
pencil. Every 2 ms, each eDVS sends the pencil’s tracked
position to a third ARM7-based controller, which computes
pencil location in 3d space and runs a linear PD-controller
to adjust X-Y-position and velocity of the table to maintain
the pencil balanced upright. The actuated table is built
using ordinary high-speed hobby servos. Our system can
balance any small, thin object such as a pencil, pen,
chop-stick, or rod for minutes, in a wide range of light
conditions.

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Additional indexing

Item Type:Conference or Workshop Item (Speech), refereed, original work
Communities & Collections:07 Faculty of Science > Institute of Neuroinformatics
Dewey Decimal Classification:570 Life sciences; biology
Language:English
Event End Date:3 October 2009
Deposited On:01 Mar 2010 10:01
Last Modified:05 Apr 2016 13:59
Additional Information:Workshop im Rahmen von: 12th IEEE International Conference on Computer Vision, 2009 : ICCV 2009 ; Kyoto, Japan, Sept. 27 - Okt. 4, 2009
Free access at:Related URL. An embargo period may apply.
Official URL:http://www.iccv2009.org/demos/index.html
Related URLs:http://www.lsr.ei.tum.de/fileadmin/publications/Conradt/ECV2009-JConradt.pdf (Organisation)
http://www.ini.uzh.ch/node/23998 (Organisation)
http://www.computervisioncentral.com/content/ecvw09 (Organisation)
Permanent URL: https://doi.org/10.5167/uzh-31950

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