Lecture 7 The Eye and Neuromorphic Vision 1. Outline The eye and the retina Artificial Vs biological vision systems Fundamentals of photo receptors Read-out.

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Presentation transcript:

Lecture 7 The Eye and Neuromorphic Vision 1

Outline The eye and the retina Artificial Vs biological vision systems Fundamentals of photo receptors Read-out strategies Examples of neuromorphic vision systems Further processing 2

Eyeball Cross Section and Retina 3

Retina Cells 4

Schematized Retinal Cells 5

Outline The eye and the retina Artificial Vs biological vision systems Fundamentals of photo receptors Read-out strategies Examples of neuromorphic vision systems Further processing 6

Frame-based Sensors Vs Biological Vision Artificial VisionBiological Systems Frame-basedContinuous Detection Global AGCLocal AGC RedundancyLow redundancy High power consumptionLow power consumption 7

Notion of Frame T frame T integration Time T integration <T frame 8

Dynamic Range Rüedi et al, JSSC 2003 A 128x128 Pixel 120dB Dynamic-Range Vision-Sensor Chip for Image Contrast and Orientation Extraction Bad choice of the integration time The human eye has a dynamic range higher than 10 decades 9

Outline The eye and the retina Artificial Vs biological vision systems Fundamentals of photo receptors Read-out strategies Examples of neuromorphic vision systems Further processing 10

Depletion Region and Phototransduction 11

Silicon Electromagnetic Spectrum 12

Some Possible Photodetectors in CMOS Technology 13 A. Moini. Vision Chips. Kluwer Academic Publishers, 2000.

Photogates 14

Logarithmic Photoreceptors (a) (b) 15

Photoreceptors with Negative Feedback (a) (b) 16

Classic Active Pixel Sensor (APS) 17

Outline The eye and the retina Artificial vision Vs biological systems Fundamentals of photo receptors Read-out strategies Examples of neuromorphic vision systems Further processing 18

Read-out Strategies: Addressing/Scanning Charge Coupled Devices (CCD) Address Event Representation (AER) 19

Addressing/Scanning Token System 20

Charge Coupled Devices (CCD) 21

Address Event Representation (AER) (I) 22

Address Event Representation (AER) (II) 23

Outline The eye and the retina Artificial Vs vision biological systems Fundamentals of photo receptors Read-out strategies Examples of neuromorphic vision systems Further processing 24

Delbrücks Adaptative Photo Cell (I) 25

Delbrücks Adaptative Photo Cell (II) Non-linear element 26

Mahowalds Pixel 27

Retina Pixel Boahen 28

Dynamic Vision Sensor (DVS) P. Lichtsteiner, C. Posch, and T. Delbrück, A dB 15 µs latency asynchronous temporal contrast vision sensor, IEEE J. Solid-State Circuits, vol. 43, no. 2, pp. 566–576, Feb

Common Source Amplifier 30 Can used as comparator

Examples of Biomorphic Vision Sensors Spatio-Temporal Contrast Detector: Dynamic Vision Sensor: 31

Outline The eye and the retina Artificial vision Vs biological systems Fundamentals of photo receptors Read-out strategies Examples of neuromorphic vision systems Further processing 32

Further Image Processing Motion Detection Features extraction 33

Token Based Motion Processing: Reichardt Detector 34

Intensity Based 35

Features Extraction 36

Difference of Gaussians Kernel (I) 37

Difference of Gaussians Kernel (II) 38

Result of Edge Detection 39

45 Degrees Edge Kernel (I) 40

45 Degrees Edge Kernel (II) 41