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======RoboGoalie: a fast robotic goalie that uses the Dynamic Vision Sensor======

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ETH computer science semester student Manuel Lang and [[http://www.ini.uzh.ch/~tobi|Tobi Delbruck]] developed a **self-calibrating** goalie robot that uses the [[start|DVS]] as input vision sensor. The goalie is controlled by http://jaer.wiki.sourceforge.net and all the code is open sourced in the package [[http://jaer.svn.sourceforge.net/viewvc/jaer/trunk/host/java/src/ch/unizh/ini/tobi/goalie/|ch.ini.unizh.tobi.goalie]].

By using spikes events instead of conventional frames, this goalie achieves **a reaction latency of <3 ms and the equivalent of 550 FPS (frames per second) at a peak CPU load of <4%**.

  * [[http://www.ini.uzh.ch/~tobi/papers/delbruckISCAS2007Goalie.pdf|Download the paper about the first version of the goalie (not self calibrating)]] Delbruck, T. and P. Lichtsteiner (2007). **Fast sensory motor control based on event-based hybrid neuromorphic-procedural system.** ISCAS 2007, New Orleans, 27-30 May 2007 Page(s):845 - 848.
  * {{robogoalie1.wmv|Watch 2007 video (Windows Media 9 format)}}.
  * {{fastgoaliegoodquality.wmv|Watch 2006 video (Windows Media 9 format) from Telluride Neuromorphic Workshop}}
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