An On-chip Spiking Neural Network for Estimation of the Head Pose of the iCub Robot

In this work, we present a neuromorphic architecture for head pose estimation and scene representation for the humanoid iCub robot. The spiking neuronal network is fully realized in Intel's neuromorphic research chip, Loihi, and precisely integrates the issued motor commands to estimate the iCu...

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Bibliographic Details

Published in:	Frontiers in Neuroscience
Main Authors:	Raphaela Kreiser, Alpha Renner, Vanessa R. C. Leite, Baris Serhan, Chiara Bartolozzi, Arren Glover, Yulia Sandamirskaya
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2020-06-01
Subjects:	pose estimation event-based vision neuromorphic SLAM on-chip learning scene memory iCub robot
Online Access:	https://www.frontiersin.org/article/10.3389/fnins.2020.00551/full