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event-driven

YARP integration for event-cameras and other neuromorphic sensors

https://user-images.githubusercontent.com/9265237/222401464-73a9beaa-a1b6-4518-ae53-5bac5dfaeb9d.mp4

Libraries that handle neuromorphic sensors, such as the dynamic vision sensor, installed on the iCub can be found here, along with algorithms to process the event-based data. Examples include, optical flow, corner detection and ball detection. Demo applications for the iCub robot, and tutorials for running them, include saccading and attention, gaze following a ball, and vergence control.

@article{Glover2017b,
author = {Glover, Arren and Vasco, Valentina and Iacono, Massimiliano and Bartolozzi, Chiara},
doi = {10.3389/frobt.2017.00073},
journal = {Frontiers in Robotics and AI},
pages = {73},
title = {{The event-driven Software Library for YARP — With Algorithms and iCub Applications}},
volume = {4},
year = {2018}
}

Libraries

Event-driven libraries provide basic functionality for handling events in a YARP environment. The library has definitions for:

TOOLS

Applications

Applications that implement the algorithms available in event-driven are found in our companion repository

event-driven-demos

How to Install:

Comprehensive instructions available for installation.

References

Glover, A., and Bartolozzi C. (2016) Event-driven ball detection and gaze fixation in clutter. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2016, Daejeon, Korea. Finalist for RoboCup Best Paper Award

Vasco V., Glover A., and Bartolozzi C. (2016) Fast event-based harris corner detection exploiting the advantages of event-driven cameras. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2016, Daejeon, Korea.

V. Vasco, A. Glover, Y. Tirupachuri, F. Solari, M. Chessa, and Bartolozzi C. Vergence control with a neuromorphic iCub. In IEEE-RAS International Conference on Humanoid Robots (Humanoids), November 2016, Mexico.