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Taming Event Cameras with Bio-Inspired Architecture and Algorithm: A Case for Drone Obstacle Avoidance

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Longfei ShangguanAuthors Info & Claims

ACM MobiCom '23: Proceedings of the 29th Annual International Conference on Mobile Computing and Networking

Article No.: 55, Pages 1 - 16

https://doi.org/10.1145/3570361.3613269

Published: 02 October 2023 Publication History

Abstract

Fast and accurate obstacle avoidance is crucial to drone safety. Yet existing on-board sensor modules such as frame cameras and radars are ill-suited for doing so due to their low temporal resolution or limited field of view. This paper presents BioDrone, a new design paradigm for drone obstacle avoidance using stereo event cameras. At the heart of BioDrone is two simple yet effective system design inspired by the mammalian visual system, namely, a chiasm-inspired signal processing pipeline for fast event filtering and obstacle detection, and a lateral geniculate nucleus (LGN)-inspired event matching algorithm for accurate obstacle localization. To make BioDrone a practical solution, we further take significant engineering efforts to deploy the software stack on FPGA through software and hardware co-design. The performance comparison with two state-of-the-art event-based obstacle avoidance systems shows BioDrone achieves a consistently high obstacle detection rate of 96.1%. The average localization error of BioDrone is 6.8cm with a 4.7ms latency, outperforming both baselines by over 40%.

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Cited By

Carver CItagaki TLiu KManik MEnglhardt ZIyer VZhou X(2024)Demonstration of Laser Power Delivery for Mobile MicrorobotsProceedings of the 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications10.1145/3661810.3663466(19-24)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3661810.3663466
Ruan CZhao CLiang CLuo XXu JChen XGanesan DLane NShi W(2024)Distill Drops into Data: Event-based Rain-Background Decomposition NetworkProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3694737(2072-2077)Online publication date: 4-Dec-2024
https://dl.acm.org/doi/10.1145/3636534.3694737
Luo XWang HRuan CLiang CXu JChen XGanesan DLane NShi W(2024)EventTracker: 3D Localization and Tracking of High-Speed Object with Event and Depth FusionProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3694721(1974-1979)Online publication date: 4-Dec-2024
https://dl.acm.org/doi/10.1145/3636534.3694721
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Index Terms

Taming Event Cameras with Bio-Inspired Architecture and Algorithm: A Case for Drone Obstacle Avoidance
1. Human-centered computing
  1. Ubiquitous and mobile computing

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cover image ACM Conferences

ACM MobiCom '23: Proceedings of the 29th Annual International Conference on Mobile Computing and Networking

October 2023

1605 pages

ISBN:9781450399906

DOI:10.1145/3570361

Chairs:
Xavier Costa,
Joerg Widmer,
Co-chairs:
Diego Perino,
Domenico Giustiniano,
Program Chair:
Haitham Al Hassanieh,
Program Co-chairs:
Arash Asadi,
Landon Cox

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Published: 02 October 2023

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ACM MobiCom '23: 29th Annual International Conference on Mobile Computing and Networking

October 2 - 6, 2023

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Cited By

Carver CItagaki TLiu KManik MEnglhardt ZIyer VZhou X(2024)Demonstration of Laser Power Delivery for Mobile MicrorobotsProceedings of the 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications10.1145/3661810.3663466(19-24)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3661810.3663466
Ruan CZhao CLiang CLuo XXu JChen XGanesan DLane NShi W(2024)Distill Drops into Data: Event-based Rain-Background Decomposition NetworkProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3694737(2072-2077)Online publication date: 4-Dec-2024
https://dl.acm.org/doi/10.1145/3636534.3694737
Luo XWang HRuan CLiang CXu JChen XGanesan DLane NShi W(2024)EventTracker: 3D Localization and Tracking of High-Speed Object with Event and Depth FusionProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3694721(1974-1979)Online publication date: 4-Dec-2024
https://dl.acm.org/doi/10.1145/3636534.3694721
Chen XWang HCheng YFu HLiu YDang FLiu YCui JChen X(2024)DDL: Empowering Delivery Drones With Large-Scale Urban Sensing CapabilityIEEE Journal of Selected Topics in Signal Processing10.1109/JSTSP.2024.342737118:3(502-515)Online publication date: Apr-2024
https://doi.org/10.1109/JSTSP.2024.3427371
Atanov AFu JSingh RYu ISpielberg AZamir A(2024)How Far Can a 1-Pixel Camera Go? Solving Vision Tasks Using Photoreceptors and Computationally Designed Visual MorphologyComputer Vision – ECCV 202410.1007/978-3-031-72904-1_27(458-476)Online publication date: 29-Sep-2024
https://dl.acm.org/doi/10.1007/978-3-031-72904-1_27

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