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sEMD-iCub

This is a Spiking Elementary Motion Detector for iCub, the humanoid robot.
The model is able to detect moving objects within the visual field exploiting a non-uniform downsampling of the field of vision. This model asynchronously processes events from event-driven bio-ispired cameras mounted on iCub.
Furthermore, the model is hosted on SpiNNaker neuromorphic hardware.

The folder contains:

• Code: Have a lok at the README.md to learn about the code.
• Data: Have a lok at the README.md to generate the stimuli we used. This folder also contains the raw data of the real-world experiments.

Overview of the system

Stimuli:

Four cardinal directions

Four transversal directions