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Active sensing and its application to neuromorphic space imagingGregory Cohen – ICNS, WSU
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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
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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
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Imaging the Stars and Planets
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Low Earth Orbit Satellites (LEOs)
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Siderally tracking the stars.
Tracking LEOs – Tracking SL8RB 21938
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Siderally tracking the stars.
Event Frames Visualization Surface
Low Earth Orbit Satellites (LEOs)
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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
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Real-time Detection of Daytime LEOs
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Atmospheric Effects? Jupiter from the DAVIS Camera
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Atmospheric Effects?
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Scintillation Effects?
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Star Tracking with CCD Imaging
Star Mapping with an Event-based Sensor
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Star Mapping with an Event-based SensorComparison of the inferred star map and the ground truth from the CCD sensor
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Seeing Through Gaps in Clouds
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Seeing Through Gaps in Clouds
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Active Sensing and Occlusion-invariant Sensing
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Seeing through the bushes
SEEING THROUGH THE CLOUDSSeeing through the bushes
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Seeing through the bushes
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