Active sensing and its - Beyond Conventional Computing Systems · The importance of prediction in...

Active sensing and its application to neuromorphic space imagingGregory Cohen – ICNS, WSU

Important Points

• The importance of active sensing

• The importance of prediction in neuromorphic systems

• Temporal resolution makes up for spatial resolution

• The importance of synchronization

• Biologically inspired – not biologically plausible

• Low-power, low-bandwidth sensing and computation

What is space situational awareness?

Space Situational Awareness

Low-Earth OrbitSource: stuffin.spaceSource: stuffin.space

Medium Earth OrbitSource: stuffin.space

Source: stuffin.spaceGeosynchronous Orbits

Event-based sensor

Low Data Rates(logarithmic axis)

Conventional sensor

Daytime LEO DetectionHigh Dynamic Range

Unparalleled Orbital Applications

New Imaging Paradigm for Terrestrial Imaging

Novel imaging paradigm

• Independent and asynchronous pixels

• Logarithmic change detection gives very high dynamic range

• Frame-free imaging with no fixed integration times

• High-speed imaging (events have 1 µs resolution)

• Greatly reduces motion blur and saturation effects

High-speed, low-power, low-bandwidth imaging

Neuromorphic Event-based Sensors

Requires a new approach to processing and computer vision

International Centre Neuromorphic Systems 2018

Telescope Manufacturer and Model Focal Length f / ratio SensorPrimary telescope Officina Stellare RH200 600 mm f / 3 CCD SensorSecondary telescope 8” Meade LX200 2000mm f / 10 ATIS Sensor

Experimental Setup

Imaging the Stars and Planets

Low Earth Orbit Satellites (LEOs)

Siderally tracking the stars.

Tracking LEOs – Tracking SL8RB 21938

Siderally tracking the stars.

Event Frames Visualization Surface

Low Earth Orbit Satellites (LEOs)

ABS-6 GEO Synchronous Orbit Ground Truth

Object: ABS-6 (25924) on 04/06/207

Real-time Frames Visualization Surface

Sidereal tracking is used to visualize the GEO

Geosynchronous Objects

Real-time Detection of Daytime LEOs

Atmospheric Effects? Jupiter from the DAVIS Camera

Atmospheric Effects?

Scintillation Effects?

Star Tracking with CCD Imaging

Star Mapping with an Event-based Sensor

Star Mapping with an Event-based SensorComparison of the inferred star map and the ground truth from the CCD sensor

Seeing Through Gaps in Clouds

Active Sensing and Occlusion-invariant Sensing

Seeing through the bushes

SEEING THROUGH THE CLOUDSSeeing through the bushes

Seeing through the bushes

Active sensing and its - Beyond Conventional Computing Systems · The importance of prediction in...

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