Mardi 03 Juin 2014 Séminaire ARISTOTE

Procédé calculatoire neuromorphique générique et perceptif,

intégré en un composant électronique

Patrick Pirim Brain Vision Systems, Paris

patrick.pirim@bvs-tech.com

Bio-inspiration, hypotheses de départ

Modele bio-inspiré d'une activité de population neuronale

Implémentation électronique

Applications :

à la conduite automobile par contrôle visuel

en robotique,

en vision binoculaire

Performances et perspectives

Demonstration temps réel

Sommaire

But : Process générique

Perception sensorielle

Substitution sensorielle

• "You don't see with your eyes, you see with your brain,".

• Bach-y-Rita 1971

A tactile tongue-based,

electrical sensor routes

spatial information

through the tongue to

the brain.

Organisation corticale

David Hubel and Torsten Wiesel (Nobel Price medecine 1981)

Dynamique Structurale Globale

Claude Touzet

Les trois modalités perceptives:

L'approche neuromorphique

Modèle générique BVS

Application 1 : tache colorée

Calcul spatio-temporel + anticipation Couleur orange perçue

Incrustée en bleu Sans anticipation

Avec anticipation

Application 2 : recherche 1 ligne

Application 2 : recherche 2 lignes

Recrutement

dynamique avec

inhibition

Perception de bords orientés

Controle du véhicule par le regard

Visual perception of the road during car driving. An appropriate control

requires that the delay T needed for perception, between gaze fixation and

wheel rotation, is such that during that delay, the vehicule moves forward a

distance d equal to the product of T by the car’s velocity v.

Automatic control: Alpha=K*d

-1/a1

a1=ta

n1

xn0

yn

yv

xv

R

d

R

a2=tan2

xo

yo

mdn

n

do

a1

u

d

Vh

u0

a2

u

o

n

m

I

J

do dn

dm

Focus of

Expansion

Automatized car driving by gaze-like

control. 1- General scheme showing

the different horizontal areas with border

detections and their perspective. 2- Horizon

line detection (in red) together with flow

field’s focus (car direction) when driving on

a straight road. 3- From a video during

actual driving, the perspective points

(crossing of the two road’s border lines) are

obtained in the three zones (in red for near,

in

green for intermediate, in blue for far). The

distance d between the perspective point in

the far-distance area and the flow field’s

focus is extracted. Multiplying d by a learnt

coeficient K gives the angle of the wheel. 4-

Reconstruction of the road map from this

previous data (formulae are described in

[16]). 5- Real test with a game car (left

screen) as a simulator using formula = K .

d. The car becomes the reference (right

screen) and the whole scene moves

around it.

Application sur simulateur

Modele d'activité spatio-temporelle

de population neuronale

Niveau actuel d'intégration

Contrôle carrefour

Contrôle drone

Vision binoculaire

Robotique

Performances

Développement du marché

Perspectives

Développement

Démo temps réel

Ex: 2 modes de fonctionnement visuel Fixe: image stable Mobile: perturbation

Ex: Automat perceptif de la grenouille:

Intégration robotique

Brain Vision

Systems www.bvs-tech.com

Thanks you for your attention

patrick.pirim@bvs-tech.com