%A Brandli,Christian %A Mantel,Thomas %A Hutter,Marco %A Höpflinger,Markus %A Berner,Raphael %A Siegwart,Roland %A Delbruck,Tobi %D 2014 %J Frontiers in Neuroscience %C %F %G English %K Neuromorphic,vision sensor,Robotics,event-based,high-speed,machine-vision,3D scanner,laser,temporal filter,neuromorphic engineering,obstacle avoidance,DVS,Address-Event Representation (AER),dynamic vision sensor (DVS),Silicon Retina %Q %R 10.3389/fnins.2013.00275 %W %L %M %P %7 %8 2014-January-17 %9 Original Research %+ Mr Christian Brandli,ETH Zurich / University of Zurich,Department of Information Technology and Electrical Engineering,Universität Zürich,Winterthurerstr. 190,Zurich,8057,Zurich,Switzerland,braendch@ethz.ch %# %! Pulsed Laser Line-DVS for Terrain Reconstruction %* %< %T Adaptive pulsed laser line extraction for terrain reconstruction using a dynamic vision sensor %U https://www.frontiersin.org/articles/10.3389/fnins.2013.00275 %V 7 %0 JOURNAL ARTICLE %@ 1662-453X %X Mobile robots need to know the terrain in which they are moving for path planning and obstacle avoidance. This paper proposes the combination of a bio-inspired, redundancy-suppressing dynamic vision sensor (DVS) with a pulsed line laser to allow fast terrain reconstruction. A stable laser stripe extraction is achieved by exploiting the sensor's ability to capture the temporal dynamics in a scene. An adaptive temporal filter for the sensor output allows a reliable reconstruction of 3D terrain surfaces. Laser stripe extractions up to pulsing frequencies of 500 Hz were achieved using a line laser of 3 mW at a distance of 45 cm using an event-based algorithm that exploits the sparseness of the sensor output. As a proof of concept, unstructured rapid prototype terrain samples have been successfully reconstructed with an accuracy of 2 mm.