TY  - JOUR
AU  - Renner, Alpha
AU  - Supic, Lazar
AU  - Danielescu, Andreea
AU  - Indiveri, Giacomo
AU  - Frady, E. Paxon
AU  - Sommer, Friedrich T.
AU  - Sandamirskaya, Yulia
TI  - Visual odometry with neuromorphic resonator networks
JO  - Nature machine intelligence
VL  - 6
IS  - 6
SN  - 2522-5839
CY  - London
PB  - Springer Nature Publishing
M1  - FZJ-2024-04411
SP  - 653–663
PY  - 2024
AB  - Visual odometry (VO) is a method used to estimate self-motion of a mobile robot using visual sensors. Unlike odometry based on integrating differential measurements that can accumulate errors, such as inertial sensors or wheel encoders, VO is not compromised by drift. However, image-based VO is computationally demanding, limiting its application in use cases with low-latency, low-memory and low-energy requirements. Neuromorphic hardware offers low-power solutions to many vision and artificial intelligence problems, but designing such solutions is complicated and often has to be assembled from scratch. Here we propose the use of vector symbolic architecture (VSA) as an abstraction layer to design algorithms compatible with neuromorphic hardware. Building from a VSA model for scene analysis, described in our companion paper, we present a modular neuromorphic algorithm that achieves state-of-the-art performance on two-dimensional VO tasks. Specifically, the proposed algorithm stores and updates a working memory of the presented visual environment. Based on this working memory, a resonator network estimates the changing location and orientation of the camera. We experimentally validate the neuromorphic VSA-based approach to VO with two benchmarks: one based on an event-camera dataset and the other in a dynamic scene with a robotic task.
LB  - PUB:(DE-HGF)16
UR  - <Go to ISI:>//WOS:001258009300004
DO  - DOI:10.1038/s42256-024-00846-2
UR  - https://juser.fz-juelich.de/record/1028217
ER  -