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  • 1
    Electronic Resource
    Electronic Resource
    A Robust Analog VLSI Motion Sensor Based on the Visual System of the Fly (1999)
    Springer
    Autonomous robots 7 (1999), S. 211-224 
    Details
    ISSN: 1573-7527
    Keywords: optomotor system ; analog VLSI ; optic flow ; motion detector ; insect vision
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Sensing visual motion gives a creature valuable information about its interactions with the environment. Flies in particular use visual motion information to navigate through turbulent air, avoid obstacles, and land safely. Mobile robots are ideal candidates for using this sensory modality to enhance their performance, but so far have been limited by the computational expense of processing video. Also, the complex structure of natural visual scenes poses an algorithmic challenge for extracting useful information in a robust manner. We address both issues by creating a small, low-power visual sensor with integrated analog parallel processing to extract motion in real-time. Because our architecture is based on biological motion detectors, we gain the advantages of this highly evolved system: A design that robustly and continuously extracts relevant information from its visual environment. We show that this sensor is suitable for use in the real world, and demonstrate its ability to compensate for an imperfect motor system in the control of an autonomous robot. The sensor attenuates open-loop rotation by a factor of 31 with less than 1 mW power dissipation.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008916202887
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    A Robust Analog VLSI Reichardt Motion Sensor (2000)
    Springer
    Analog integrated circuits and signal processing 24 (2000), S. 213-229 
    Details
    ISSN: 1573-1979
    Keywords: Reichardt motion detector ; analog VLSI ; insect vision ; motion sensor ; robust sensing ; biological model
    Source: Springer Online Journal Archives 1860-2000
    Topics: Electrical Engineering, Measurement and Control Technology
    Notes: Abstract Silicon imagers with integrated motion-detection circuitry have been developed and tested for the past 15 years. Many previous circuits estimate motion by identifying and tracking spatial or temporal features. These approaches are prone to failure at low SNR conditions, where feature detection becomes unreliable. An alternate approach to motion detection is an intensity-based spatiotemporal correlation algorithm, such as the one proposed by Hassenstein and Reichardt in 1956 to explain aspects of insect vision. We implemented a Reichardt motion sensor with integrated photodetectors in a standard CMOS process. Our circuit operates at sub-microwatt power levels, the lowest reported for any motion sensor. We measure the effects of device mismatch on these parallel, analog circuits to show they are suitable for constructing 2-D VLSI arrays. Traditional correlation-based sensors suffer from strong contrast dependence. We introduce a circuit architecture that lessens this dependence. We also demonstrate robust performance of our sensor to complex stimuli in the presence of spatial and temporal noise.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008361525235
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    Paper (German National Licenses)
    Fulltext
  • 3
    Electronic Resource
    Electronic Resource
    A Modular Multi-Chip Neuromorphic Architecture for Real-Time Visual Motion Processing (2000)
    Springer
    Analog integrated circuits and signal processing 24 (2000), S. 195-211 
    Details
    ISSN: 1573-1979
    Keywords: analog VLSI ; vision chips ; optical flow ; stereo ; neuromorphic
    Source: Springer Online Journal Archives 1860-2000
    Topics: Electrical Engineering, Measurement and Control Technology
    Notes: Abstract The extent of pixel-parallel focal plane image processing is limited by pixel area and imager fill factor. In this paper, we describe a novel multi-chip neuromorphic VLSI visual motion processing system which combines analog circuitry with an asynchronous digital interchip communications protocol to allow more complex pixel-parallel motion processing than is possible in the focal plane. This multi-chip system retains the primary advantages of focal plane neuromorphic image processors: low-power consumption, continuous-time operation, and small size. The two basic VLSI building blocks are a photosensitive sender chip which incorporates a 2D imager array and transmits the position of moving spatial edges, and a receiver chip which computes a 2D optical flow vector field from the edge information. The elementary two-chip motion processing system consisting of a single sender and receiver is first characterized. Subsequently, two three-chip motion processing systems are described. The first three-chip system uses two sender chips to compute the presence of motion only at a particular stereoscopic depth from the imagers. The second three-chip system uses two receivers to simultaneously compute a linear and polar topographic mapping of the image plane, resulting in information about image translation, rotation, and expansion. These three-chip systems demonstrate the modularity and flexibility of the multi-chip neuromorphic approach.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008309524326
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    Paper (German National Licenses)
    Fulltext
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