Event-Driven LED Array Tracking for Low-Power SLAM
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Solution Overview
Problem
Conventional SLAM techniques for autonomous robots and augmented reality head-mounted displays are computationally intensive and power-consuming, and feature point identification can lead to mismatches, requiring complex protection mechanisms.
Innovation Solution
Employing event-driven sensor (EDS) cells that detect motion through light intensity changes, combined with pulsing LEDs, allows for efficient feature point detection using minimal computational power and eliminates the need for complex tracking failure protection, enabling SLAM algorithms with one-step optimization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional SLAM techniques are used for feature point identification and tracking, then tracking reliability is improved, but computational power consumption increases significantly
Solution Approach 1:
The patent replaces conventional image processing mechanisms with event-driven sensor technology. Instead of using cameras and complex image algorithms, the system employs EDS cells that directly detect light intensity changes from LEDs, eliminating the need for computationally intensive image processing while maintaining tracking reliability
Solution Approach 2:
The patent changes the fundamental parameter of detection from continuous image data to discrete event signals. By using EDS cells that output digital events based on light intensity threshold crossings, the system transforms the detection process into a low-computational approach that maintains reliable feature tracking
2Reliability
If conventional SLAM techniques with multiple protection mechanisms are implemented, then tracking failure protection is improved, but device complexity increases
Solution Approach 1:
The patent extracts and eliminates the complex protection mechanisms from the SLAM system. By using EDS cells with built-in threshold-based event detection, the system removes the need for separate outlier rejection algorithms, loss functions, and multi-step verification processes, thereby reducing overall system complexity while maintaining reliability
Solution Approach 2:
The EDS cells perform their own built-in threshold comparison and event generation autonomously, eliminating the need for external complex protection mechanisms. The system trusts the intrinsic capability of EDS cells to provide reliable detection without requiring additional protective algorithms
3Speed
If high-frequency LED pulsing is used for feature tracking, then tracking speed is improved, but computational processing requirements increase
Solution Approach 1:
The patent substitutes computational feature detection with optical event detection. EDS cells directly detect LED pulses through light intensity changes, enabling high-frequency tracking without the computational processing requirements of conventional image processing methods
Solution Approach 2:
The patent introduces EDS cells as an intermediary between LED pulsing and computational processing. The EDS cells convert optical signals into digital event streams, acting as a bridge that enables high-frequency tracking while filtering out unnecessary computational complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Reduces power consumption and computational requirements while ensuring accurate feature point detection, facilitating efficient SLAM operations with high-frequency tracking of multiple LEDs, and eliminating the need for image processing and loss function implementations.
Implementation Method 1
EDS uses the change of light intensity as sensed by one or more pixels as an indication of motion
Implementation Method 2
LEDs are arranged in an array and briefly activated one LED at a time, e.g., for a few microseconds
Data Source
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AI summary
An event driven sensor (EDS) (202, 300, 302, 400, 500, 600) is used for simultaneous localization and mapping (SLAM) and in particular is used in conjunction with a constellation (208, 306, 402, 502, 602) of light emitting diodes (LED) to simultaneously localize all LEDs and track EDS pose in space. The EDS may be stationary (500) or moveable (400, 600) and can track moveable LED constellations as rigid bodies. Each individual LED is distinguished at a high rate using minimal computational resources (no image processing). Thus, instead of a camera and image processing, rapidly pulsing LEDs detected by the EDS are used for feature points such that EDS events are related to only one LED at a time.