The Event-Driven Software Library for YARP—With Algorithms and iCub Applications

Frontiers in Robotics and AI

Massimiliano Iacono¹  Arren Glover¹  Valentina Vasco¹  Chiara Bartolozzi¹ 

[1] iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy;

关键词: iCub;    neuromorphic engineering;    event-driven vision;    software;    humanoid robotics;   

DOI  :  10.3389/frobt.2017.00073

来源: DOAJ

【 摘 要 】

Event-driven (ED) cameras are an emerging technology that sample the visual signal based on changes in the signal magnitude, rather than at a fixed-rate over time. The change in paradigm results in a camera with a lower latency, that uses less power, has reduced bandwidth, and higher dynamic range. Such cameras offer many potential advantages for on-line, autonomous, robots; however, the sensor data do not directly integrate with current “image-based” frameworks and software libraries. The iCub robot uses Yet Another Robot Platform (YARP) as middleware to provide modular processing and connectivity to sensors and actuators. This paper introduces a library that incorporates an event-based framework into the YARP architecture, allowing event cameras to be used with the iCub (and other YARP-based) robots. We describe the philosophy and methods for structuring events to facilitate processing, while maintaining low-latency and real-time operation. We also describe several processing modules made available open-source, and three example demonstrations that can be run on the neuromorphic iCub.

【 授权许可】

Unknown