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https://doi.org/10.3389/fnins.2017.00083
Title: | A saccade based framework for real-time motion segmentation using event based vision sensors | Authors: | Mishra, A Ghosh, R Principe, J.C Thakor, N.V Kukreja, S.L |
Keywords: | algorithm Article biosensor calculation camera controlled study dynamics measurement accuracy methodology motion motion segmentation saccadic eye movement spatial statistics statistics vision vision sensor |
Issue Date: | 2017 | Citation: | Mishra, A, Ghosh, R, Principe, J.C, Thakor, N.V, Kukreja, S.L (2017). A saccade based framework for real-time motion segmentation using event based vision sensors. Frontiers in Neuroscience 11 (MAR) : 83. ScholarBank@NUS Repository. https://doi.org/10.3389/fnins.2017.00083 | Abstract: | Motion segmentation is a critical pre-processing step for autonomous robotic systems to facilitate tracking of moving objects in cluttered environments. Event based sensors are low power analog devices that represent a scene by means of asynchronous information updates of only the dynamic details at high temporal resolution and, hence, require significantly less calculations. However, motion segmentation using spatiotemporal data is a challenging task due to data asynchrony. Prior approaches for object tracking using neuromorphic sensors perform well while the sensor is static or a known model of the object to be followed is available. To address these limitations, in this paper we develop a technique for generalized motion segmentation based on spatial statistics across time frames. First, we create micromotion on the platform to facilitate the separation of static and dynamic elements of a scene, inspired by human saccadic eye movements. Second, we introduce the concept of spike-groups as a methodology to partition spatio-temporal event groups, which facilitates computation of scene statistics and characterize objects in it. Experimental results show that our algorithm is able to classify dynamic objects with a moving camera with maximum accuracy of 92%. © 2017 Mishra, Ghosh, Principe, Thakor and Kukreja. | Source Title: | Frontiers in Neuroscience | URI: | https://scholarbank.nus.edu.sg/handle/10635/176098 | ISSN: | 1662-4548 | DOI: | 10.3389/fnins.2017.00083 |
Appears in Collections: | Elements Staff Publications |
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