Unfortunately we couldn't bring the iCub robot but we have a stereo dvs camera set-up as found in the head of the iCub.
The iCub Robot with DVS cameras
YARP robot middle-ware, combined with our event-driven library is used to process event data over multiple computers distributed on a network. Importantly these modules are not restricted to CPU based computing and at CapoCaccia we will continue the interface between YARP and the SpiNNaker boards. The figure below illustrates our set-up between cameras, CPU-processing modules, SpiNNaker-processing modules and real-time visualisation.
Gabor-filtering on the SpiNNaker board:
A single gabor filter is running on the SpiNNaker board that is sensitive to a vertical orientation. When the pen in instead turned sideways the filter no-longer spikes (as seen by the blue dot on the event visualisation). The simple example is used to demonstrate the successful flow of events through the system, and importantly both in and out of the SpiNNaker board.
In addition a disparity module was added to the circle detection, combining both left and right detections of the circle and the disparity is calculated as the horizontal distance between detected centres. The disparity can be used to find the 3D position of the ball given correct stereo camera calibration.