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Permanent URL to this publication: http://dx.doi.org/10.5167/uzh-31950

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.

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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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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
Event End Date:3 October 2009
Deposited On:01 Mar 2010 10:01
Last Modified:03 Jul 2012 04:13
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)

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