リアルタイム神経形態ナビゲーション：イベントベース視覚と物理駆動型計画のParrot Bebop2クアッドロータへの統合

原文アブストラクト

In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work presents a novel integration of neuromorphic event cameras with physics-driven planning algorithms implemented on a Parrot Bebop2 quadrotor. Neuromorphic event cameras, characterized by their high dynamic range and low latency, offer significant advantages over traditional frame-based systems, particularly in poor lighting conditions or during high-speed maneuvers. We use a DVS camera with a shallow Spiking Neural Network (SNN) for event-based object detection of a moving ring in real-time in an indoor lab. Further, we enhance drone control with physics-guided empirical knowledge inside a neural network training mechanism, to predict energy-efficient flight paths to fly through the moving ring. This integration results in a real-time, low-latency navigation system capable of dynamically responding to environmental changes while minimizing energy consumption. We detail our hardware setup, control loop, and modifications necessary for real-world applications, including the challenges of sensor integration without burdening the flight capabilities. Experimental results demonstrate the effectiveness of our approach in achieving robust, collision-free, and energy-efficient flight paths, showcasing the potential of neuromorphic vision and physics-driven planning in enhancing autonomous navigation systems.