Title
A toolbox for neuromorphic perception in robotics
Author
Dupeyroux, J.J.G. (TU Delft Control & Simulation) 
Stroobants, S. (TU Delft Control & Simulation)
de Croon, G.C.H.E. (TU Delft Control & Simulation)
Date
2022
Abstract
The third generation of artificial intelligence (AI) introduced by neuromorphic computing is revolutionizing the way robots and autonomous systems can sense the world, process the information, and interact with their environment. Research towards fulfilling the promises of high flexibility, energy efficiency, and robustness of neuromorphic systems is widely supported by software tools for simulating spiking neural networks, and hardware integration (neuromorphic processors). Yet, while efforts have been made on neuromorphic vision (event-based cameras), it is worth noting that most of the sensors available for robotics remain inherently incompatible with neuromorphic computing, where information is encoded into spikes. To facilitate the use of traditional sensors, we need to convert the output signals into streams of spikes, i.e., a series of events (+1,-1) along with their corresponding timestamps. In this paper, we propose a review of the coding algorithms from a robotics perspective and further supported by a benchmark to assess their performance. We also introduce a ROS (Robot Operating System) toolbox to encode and decode input signals coming from any type of sensor available on a robot. This initiative is meant to stimulate and facilitate robotic integration of neuromorphic AI, with the opportunity to adapt traditional off-the-shelf sensors to spiking neural nets within one of the most powerful robotic tools, ROS.
To reference this document use:
http://resolver.tudelft.nl/uuid:20de7d89-eb0c-42f2-859f-54c9582f3297
DOI
https://doi.org/10.1109/EBCCSP56922.2022.9845664
Embargo date
2023-07-01
ISBN
978-1-6654-5349-3
Source
Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022
Event
8th International Conference on Event-Based Control, Communication, and Signal Processing, 2022-06-22 → 2022-06-24, Krakow, Poland
Series
Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022
Bibliographical note
Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Part of collection
Institutional Repository
Document type
conference paper
Rights
© 2022 J.J.G. Dupeyroux, S. Stroobants, G.C.H.E. de Croon