PRED18: Dataset and Further Experiments with DAVIS Event Camera in Predator-Prey Robot Chasing

Diederik Paul Moeys, Daniel Neil, Federico Corrode, Emmett Kerr, Philip Vance, Gautham Das, Sonya Coleman, T.Martin McGinnity, Dermot Kerr, Tobi Delbruck

Research output: Contribution to conferencePaper

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Abstract

Machine vision systems using convolutional neural
networks (CNNs) for robotic applications are increasingly being
developed. Conventional vision CNNs are driven by camera
frames at constant sample rate, thus achieving a fixed latency and
power consumption tradeoff. This paper describes further work
on the first experiments of a closed-loop robotic system integrating
a CNN together with a Dynamic and Active Pixel Vision Sensor
(DAVIS) in a predator/prey scenario. The DAVIS, mounted on the
predator Summit XL robot, produces frames at a fixed 15 Hz
frame-rate and Dynamic Vision Sensor (DVS) histograms
containing 5k ON and OFF events at a variable frame-rate ranging
from 15-500 Hz depending on the robot speeds. In contrast to
conventional frame-based systems, the latency and processing cost
depends on the rate of change of the image. The CNN is trained
offline on the 1.25h labeled dataset to recognize the position and
size of the prey robot, in the field of view of the predator. During
inference, combining the ten output classes of the CNN allows
extracting the analog position vector of the prey relative to the
predator with a mean 8.7% error in angular estimation. The
system is compatible with conventional deep learning technology,
but achieves a variable latency-power tradeoff that adapts
automatically to the dynamics. Finally, investigations on the
robustness of the algorithm, a human performance comparison
and a deconvolution analysis are also explored.
Original languageEnglish
Number of pages8
Publication statusAccepted/In press - 19 May 2018
Event4th International Conference on Event-Based Control, Communication and Signal Processing - Perpignan, France
Duration: 27 Jun 201829 Jun 2018
Conference number: 4
https://www.ebccsp2018.org

Conference

Conference4th International Conference on Event-Based Control, Communication and Signal Processing
Abbreviated titleEBCCSP 2018
CountryFrance
CityPerpignan
Period27/06/1829/06/18
Internet address

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  • Cite this

    Moeys, D. P., Neil, D., Corrode, F., Kerr, E., Vance, P., Das, G., ... Delbruck, T. (Accepted/In press). PRED18: Dataset and Further Experiments with DAVIS Event Camera in Predator-Prey Robot Chasing. Paper presented at 4th International Conference on Event-Based Control, Communication and Signal Processing, Perpignan, France.