Event-driven figure-ground organisation model for the humanoid robot iCub

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00381590" target="_blank" >RIV/68407700:21230/25:00381590 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1038/s41467-025-56904-9" target="_blank" >https://doi.org/10.1038/s41467-025-56904-9</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1038/s41467-025-56904-9" target="_blank" >10.1038/s41467-025-56904-9</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Event-driven figure-ground organisation model for the humanoid robot iCub

Popis výsledku v původním jazyce

Figure-ground organisation is a perceptual grouping mechanism for detecting objects and boundaries, essential for an agent interacting with the environment. Current figure-ground segmentation methods rely on classical computer vision or deep learning, requiring extensive computational resources, especially during training. Inspired by the primate visual system, we developed a bio-inspired perception system for the neuromorphic robot iCub. The model uses a hierarchical, biologically plausible architecture and event-driven vision to distinguish foreground objects from the background. Unlike classical approaches, event-driven cameras reduce data redundancy and computation. The system has been qualitatively and quantitatively assessed in simulations and with event-driven cameras on iCub in various scenarios. It successfully segments items in diverse real-world settings, showing comparable results to its frame-based version on simple stimuli and the Berkeley Segmentation dataset. This model enhances hybrid systems, complementing conventional deep learning models by processing only relevant data in Regions of Interest (ROI), enabling low-latency autonomous robotic applications.

Název v anglickém jazyce

Event-driven figure-ground organisation model for the humanoid robot iCub

Popis výsledku anglicky

Figure-ground organisation is a perceptual grouping mechanism for detecting objects and boundaries, essential for an agent interacting with the environment. Current figure-ground segmentation methods rely on classical computer vision or deep learning, requiring extensive computational resources, especially during training. Inspired by the primate visual system, we developed a bio-inspired perception system for the neuromorphic robot iCub. The model uses a hierarchical, biologically plausible architecture and event-driven vision to distinguish foreground objects from the background. Unlike classical approaches, event-driven cameras reduce data redundancy and computation. The system has been qualitatively and quantitatively assessed in simulations and with event-driven cameras on iCub in various scenarios. It successfully segments items in diverse real-world settings, showing comparable results to its frame-based version on simple stimuli and the Berkeley Segmentation dataset. This model enhances hybrid systems, complementing conventional deep learning models by processing only relevant data in Regions of Interest (ROI), enabling low-latency autonomous robotic applications.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Nature Communications

ISSN

2041-1723

e-ISSN

2041-1723

Svazek periodika

16

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

13

Strana od-do

—

Kód UT WoS článku

001428299300004

EID výsledku v databázi Scopus

2-s2.0-85218493738