A Bio-inspired Collision Detector

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patrickpoirier51
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A Bio-inspired Collision Detector

Postby patrickpoirier51 » Mon Feb 12, 2018 4:00 pm

This has just been published:
https://scirate.com/arxiv/1801.04530

Its a a novel bio-inspired collision detector and its application on a robot. The detector is inspired from LGMD neurons in the locusts, and modeled into an STM32F407 MCU. Compared to other collision detecting methods, we focused on enhancing the collision selectivity in a bio-inspired way that can considerably increase the computing efficiency during an obstacle detecting task even in complex dynamic environment.

That would be a great add-on to the OpenMv libraries.
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kwagyeman
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Re: A Bio-inspired Collision Detector

Postby kwagyeman » Mon Feb 12, 2018 6:51 pm

Hi, for the next release about to come out I finally have optical flow working really well.
Nyamekye,
patrickpoirier51
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Joined: Sat Apr 08, 2017 9:04 am

Re: A Bio-inspired Collision Detector

Postby patrickpoirier51 » Mon Feb 12, 2018 8:53 pm

Cool, I saw you progress on this and will certainly give it a try.
Did you looked at the paper above?
We dont see much neural network implementation on STM, could be interesting
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kwagyeman
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Re: A Bio-inspired Collision Detector

Postby kwagyeman » Mon Feb 12, 2018 11:30 pm

That algorithm is pretty easy implement. Would you like to give it a shot in C? It seems to require 3 frames in RAM to work but you can easily store that now with the new alloc_extra_fb command.
Nyamekye,
patrickpoirier51
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Joined: Sat Apr 08, 2017 9:04 am

Re: A Bio-inspired Collision Detector

Postby patrickpoirier51 » Tue Feb 13, 2018 6:07 am

Yes I can give it a try in C but I would need some guidance from you

Btw this is a more technical paper about the system
http://eprints.lincoln.ac.uk/25279/1/20 ... Bfinal.pdf
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kwagyeman
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Re: A Bio-inspired Collision Detector

Postby kwagyeman » Tue Feb 13, 2018 12:34 pm

If I wrote the input/output part and left you to just write the raw algorithm would that work?

I can make a branch and put the input and output stuff together pretty easily.

A question though, how do you see a img method working? What arguments should it take... what kind of object should it return.
Nyamekye,
patrickpoirier51
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Joined: Sat Apr 08, 2017 9:04 am

Re: A Bio-inspired Collision Detector

Postby patrickpoirier51 » Tue Feb 13, 2018 4:50 pm

OK I have found a trace of the code here: http://ilab.usc.edu/cgi-bin/secure/view ... ots/LoBot/
I will extract on my github , to test and I will ge back to you
Last edited by patrickpoirier51 on Wed Feb 14, 2018 11:27 am, edited 1 time in total.
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kwagyeman
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Re: A Bio-inspired Collision Detector

Postby kwagyeman » Wed Feb 14, 2018 12:01 pm

If you have code it's way easier for me to port. A lot less of my time then.
Nyamekye,

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