Abstract:
The use of three types of spatio-temporal processing elements is investigated for optical sensory preprocessing in order to solve robot control problems in mobile robotic...Show MoreMetadata
Abstract:
The use of three types of spatio-temporal processing elements is investigated for optical sensory preprocessing in order to solve robot control problems in mobile robotics. The sensory elements are optical analog VLSI silicon retina type devices that do on-chip gradient operations and perform a current mode hysteretic winner-take-all function. Each sensor device extracts a characteristic feature from the optical input: position of highest contrast along a 1-D array, maximum speed along a 1-D array, maximum optical flow on a 2-D array. These are continuously calculated by the respective sensory devices. The sensory devices are applied in a mobile robotics application. They are used for active ball control, ball velocity prediction and active gaze-control for RoboCup Middle-Size League robots.
Published in: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Date of Conference: 11-15 May 2002
Date Added to IEEE Xplore: 07 August 2002
Print ISBN:0-7803-7272-7