The use of time for computation
The development of ED sensing and the relative infrastructure for its integration on the iCub is instrumental to the development of an autonomous robot that exploits efficient sensory compression, enabling fast and low cost acquisition, storage and computation. Our results show that the temporal signature of events from vision sensors adds information about the visual input and that information about the visual stimuli is maximised when it is encoded with a temporal resolution of few milliseconds; this temporal resolution is preserved in higher hierarchical computational layers, improving the separability between objects. The core idea of research in this domain is to exploit this additional temporal information and the high temporal resolution coupled with low data rate for developing methods to process moving stimuli in real time. This, coupled with static precise spatial information from traditional frame-based cameras, will greatly enhance computer vision for robots that have to interact with objects and people in real time, adapting to sudden changes, failures and uncertainties.