Event-based Encoding from Digital Magnetic
Compass and Ultrasonic Distance Sensor for
Navigation in Mobile Systems
Juan Barrios-Avilés, Taras Iakymchuk, Alfredo Rosado-Muñoz, Jose V. Francés-Villora,
Manuel Bataller-Mompeán, Juan F. Guerrero-Martı́nez
Group for Digital Design and Processing (GDDP). ETSE School of Engineering, Dpt. Electronic Engineering
Universitat de Valencia. Av. Universitat s/n. 46100 Burjassot. Valencia. Spain.
Email: Juan.Barrios@uv.es
Abstract—Event-based encoding reduces the amount of gen-
erated data while keeping relevant information in the measured
magnitude. While this encoding is mostly associated with spiking
neuromorphic systems, it can be used in a broad spectrum
of tasks. The extension of event-based data representation to
other sensors would provide advantages related to bandwidth
reduction, lower computing requirements, increased processing
speed and data processing. This work describes two event-based
encoding procedures (magnitude-event and rate-event) for two
sensors widely used in industry, especially for navigation in
mobile systems: digital magnetic compass and ultrasonic distance
sensor. Encoded data meet Address Event Representation (AER)
format for further transmission, processing and visualization.
Two encoding procedures and their associated AER conversion
from sensor data are described, using an AVR microprocontroller
to perform the task in real-time. Results are transmitted to a
computer via USART, displayed and recorded using Matlab or
jAER visualization tool. A comparison with classic transmitting
and processing of sensor data is done to evaluate the convenience
of the proposed encoding. Results show that data transmission
bandwith can be reduced up to 95% under certain conditions,
envisaging that pure or mixed regular/event-based data sensors
are desirable for high speed transmission and low computer
processing while keeping relevant information, which is highly
desirable for mobile systems.
I. I NTRODUCTION
Recent progress in the spiking neural network field for
classification, prediction, control, and other applications have
lead to an increased interest in neuromorphic hardware. Specif-
ically, robotics is one of the fields where most advances
are achieved. Spiking controllers were successfully used in
many practical robotic applications as pencil balancing [1],
ball interception [2], closed-loop toy car race [3]. Potential
benefits of the spiking approach are significant: very low
power, robustness, and possibility to use biologically inspired
algorithms. Biologically inspired algorithms are mostly related
with the recent advances in Spiking Neural Networks (SNN),
being the last generation of neural networks, they can work
not only with spatial, but also with temporal features of the
signal encoded in series of spikes (events), in the same way
as biological systems process data. However, the critical point
of current spiking systems is related to the input stimuli and
its output. Input and output stimuli must be encoded using
978-1-5090-2870-2/16/$31.00 ©2016 IEEE 640
event-based theory, from which a certain magnitude value
generates a sequence of events. For maximum efficiency, all
three elements of an spiking system, sensors, controller and
actuactors, should operate in real time using event-encoded
data. Thus, one can avoid the computationally intensive task
of heterogeneous sensor fusion by using event-based data,
simplifying the controller algorithm significantly.
With the emerging of neuromorphic computing, sensors
compatible with the event-based paradigm become an essential
field of study. As mammal vision is one of the most well
studied senses, the vision sensors were one of the first sensors
with native event-based information encoding. Starting from
1991 with a 50 ×50 pixel basic analog silicon retina [4]
to modern-day Dynamic Vision Sensors (DVS) which are
240× 180 pixel resolution with a dynamic range of 120dB
and a reaction latency of 12µs [5]. Other well-developed types
of event-based sensors are silicon cochleae, which encode the
sound in a similar way to the human ear. Both types of sensors
were successfully used with software emulating SNN, and
dedicated neuromorphic hardware [6].
Inertial Measurement Units (IMU) are crucial for robot
navigation and positioning. Usually, an IMU consists of an
accelerometer, gyroscope and magnetometer. Accelerometer
and gyroscope provide information about vertical position,
movement and vehicle rotation, while magnetic sensor is
useful to determine the vehicle orientation relative to the
external magnetic field (typically, the Earth). The IMU naviga-
tion requires no external beacons, working in every medium:
air, water, underground. In addition, widely used sensors are
distance sensors, they are necessary for robot navigation in
closed spaces and obstacle avoidance. The most popular type
of distance sensors for the medium range (0.1− 10m) are
ultrasonic.
To demonstrate that different sensors can generate event-
based information, we have chosen two different types of
sensors useful for navigation and mobile systems: a mag-
netic compass providing the magnetic field orientation and
an ultrasonic distance sensor. Typical patterns of data output
from these sensors include swift rotation, linear movement and
oscillations. The aim of this work is to show the possibility
to include multiple sensor information into spiking systems
in order to develop fully event-based systems. The proposed
application here is related to mobile robotics but this approach
could be further extended to other sensors according to the
required application.
This paper is organized as follows: Section I contains the
introduction to the problem. Section II describes the hardware
used, how data are read, using AER and visualization. In Sec-
tion III, for the magnetic and ultrasonic sensors we describe
two event-based encoding methods: magnitude-event and rate-
event. In Section IV the implementation results are presented
and the comparison of the proposed methods with traditional
data generated by sensors is shown. In section V conclusions
are presented.
II. M ATERIALS AND METHODS
For this work, we created a test set-up presented in Figure
1. The ultrasonic and magnetometer sensors are connected to
an AVR microcontroller (ATMega). The microcontroller reads
the sensors using its standard interface, generates the event
data based on the magnitude and sends it via a serial port
to the PC using Address Event Representation (AER) format.
Once data are received in the PC, two different software tools
can be used to read and further process event-based data:
Matlab as a standard tool for the mathematical modelling of
the selected methods, and jAER, a widely used tool for event-
based systems [7]. A special driver was written to make the
software compatible with the hardware.
Finally, the global system composed by the sensors and the
microcontroller act as a neuromorphic sensor providing two
event-based encoded values: distance and orientation, being
fully compatible with software tools already developed for
other event-based sensors as jAER and Matlab.
A. AER, Address-Event Representation
This representation was proposed by Sivilotti in 1991 [8]. It
has been widely adopted in the neuromorphic hardware field
and the main idea of the encoding is presented in Fig. 2.
With AER encoding, every device has its own event space
defined and it only transmits the information about the state
changes of its receptors. As an example, for a silicon retina, the
event space will be the whole pixel matrix, where every pixel
is an independent event source. On a threshold crossing event
in this pixel, the information about the state change is encoded
in a serial number, or XY coordinates of the changing pixel.
Thus, only significant changes generate new data and then,
the amount of information that the retina generates is several
orders of magnitude lower when compared to a traditional
vision camera where all data are transmitted continuously.
In addition, the point of interest (the areas where the image
changes) is automatically identified since data are generated
only from this area. For instance, in a ball intercept task,
the average event stream is 20kEvts/s corresponding to a
40kB/s streaming speed; using the classic camera system with
the same time resolution would require 6.6M B/s of raw data
stream speed [2]. The AER communication is ideal for low
641
latency systems; in theory, all event sources are completely
independent and asynchronous and generate an AER data
packet immediately after receiving the event. In practical
applications, simultaneous event collisions are common and
the event source usually includes an event management and
scheduling algorithm to prevent data loss.
Up to the authors’ knowledge, one implementation [9] has
been proposed to encode AER from IMU data. In this paper we
demonstrate the potential benefits of such data representation.
Using easily accessible and inexpensive sensors can be used
as a native event-based sensor. In this case, the ultrasonic
sensor HC − SR04 and the electronic compass HM C5883L
were used, together with the ATmega2560 microcontroller
using Inter-Integrated circuit(I2C) for IMU data reading, an
USART for PC interface and two I/O pins for interfacing the
ultrasonic sensor. The HC − SR04 ultrasonic module is able
to measure a distance in the range 2−400cm with an accuracy
that can reach up to 3mm and a maximum update frequency
of 75Hz. The magnetic compass uses an HM C5883L IC
magneto-resistive sensor with a 12-bit ADC and 1−2 accuracy.
A maximum update frequency of 160Hz can be achieved.
B. jAER
One of the tools for visualization of AER dataflow is
the open project ’Java Address-Event Representation (jAER)’
[10]. It is a Java Graphical User Interface (GUI) tool to display
and process real-time or recorded event-based data. AER
devices compatible with jAER include dynamic vision and
audio sensors, AER monitor/sequencer boards, servo motor
controllers and optical flow chips. In addition to data event
visualization, it is possible to apply or define algorithms and
filters for event data processing. For compatibility, the AER
generated from the microcontroller emulates the ’edvs128’
camera protocol over a 2M Bps serial link for the compat-
ibility with this software.
III. P ROCESSING OF DIGITALLY ACQUIRED DATA:
EVENT -BASED ENCODING
This work proposes two encoding algorithms: magnitude-
event and rate-event. The first algorithm is performed asyn-
chronously, it depends on a change in the magnitude of
the measurement obtained. Data are generated only when a
change in magnitude occurs, with respect to a ∆t: the angular
position with respect to north in case of the compass, and the
distance in case of the ultrasonic sensor, which are translated
into coordinates and timestamp. The main characteristic of
this algorithm is that the generation of events significantly
reduces transmission bandwidth without losing the relative
location in case of the ultrasonic sensor and keeping the
absolute orientation for the magnetic compass, at a very low
computational cost.
The rate-event algorithm is built to generate continuous
events. It periodically sends the delta time that has elapsed
since the last event. This information contains the timestamp,
resulting in a train pulse encoding an orientation or distance.
Using this encoding, it is possible to keep the absolute location
Fig. 1. Layout of the proposed work: the sensors are read using its data interface, binary data read are encoded into events and AER using a microcontroller
and finally, transmitted to a PC for visualization and processing.
Fig. 2. AER encoding scheme. Event-based data from different sensors can
be merged in a bus using packets. A REQ-ACK handshake is included to
confirm the event reception and the variable event rate control. Image source:
Mahowald, 1994; Lazarro et al., 1993.
for both the digital compass and the ultrasonic sensor at any
moment. This procedure is a common type of encoding in
biologically-inspired neural systems [11], [12]. The formula of
encoding proposed in this paper is presented in Eq. 1, where
Rmin is an event frequency corresponding to the absence
of stimuli S with Smax the maximum possible value to
be encoded. Note that only positive values can be encoded.
Negative values are encoded as events from a separated event
source which matches the biological neurons where excitatory
and inhibitory synapses exist. The precision and value range
of this encoding is limited by the maximum frequency fmax
of events accepted by the source and destination device, and
the temporal resolution ∆t, it is determined according to Eq.
2. The proposed encoding requires a fast transmission channel
with guaranteed time of delivery, or timestamped transmission.
The code for both methods is available as a free source in [13].
|S| ) + R
R= f ( min
Smax
Smax
fmax
∆t
A. Event-based and AER with HC −
SR04 ultrasonic distance
sensor.
After reading the value from the sensor and estimating the
distance, the event generation from the microcontroller for
the ultrasonic sensor HC−SR04 is produced. In case of
the magnitude-event algorithms, the current measured value
is compared to the previous value and, if different, an event
is generated. Figure 3 shows the graphical data shown in the
jAER PC software, it can be seen how a moving object in the
range of the sensor is increasing or decreasing position. Four
bytes per event as AER are then transmitted through the serial
port using with the following coding:
1) The first bit of the first byte is used to align the data
(always ’1’) at reception.
2) The following seven bits are the Y-axis coordinate.
3) The first bit of the second byte represents the polarity
of the event, increment or decrement of the measured
magnitude.
4) The next seven bits represent the X-axis coordinate.
5) Finally, the next two bytes contain the time elapsed since
the last event generated (timestamp).
Fig. 3. Ultrasonic data representation in jAER of an object moving forward
and backwards in the ultrasonic distance sensor. White pixels indicate that
the relative distance between the object and the sensor is getting closer, black
pixels indicates the opposite.
In case of the rate-event algorithm, every measured value is
converted into an event rate (a pulse train). Higher frequencies
imply that a short distance is measured. When coded into
four bytes AER, they contain the deltatime(timestamp). The
maximum delta time is 4294967295µs, which is beyond the
physical measurement limitations of the sensor.
(1)
B. Event-based and AER with ttY − 271 magnetic compass
(2) sensor.
Once the current orientation value is read from the digital
magnetic compass, the arctan(y/x) is calculated so that an
angle value in radians provides the orientation with respect to
the magnetic polar north. Finally, the radians are transformed
to degrees and adjusted to be only positive.
642
 Regarding the magnitude-event encoding, the obtained de-
grees are transformed into X, Y coordinate, the coordinate is
also AER coded according to the following protocol: first two
bytes for alignment, X, Y coordinate and polarity, the next
four bytes for deltatime. Figure 4 shows the visualization in
jAER software: top center position is north and the orien-
tation with respect to north is shown. The maximum update
frequency is 160Hz. If there is an event, the deltatime is set to
7 milliseconds, if not, the delta time is accumulated by 7ms.
Fig. 4. Digital magnetic compass data representation in jAER when the
device rotates on a plane at the same Z-axis. The difference in color for the
pixels indicates if the device is rotating clockwise or counter-clockwise.
For rate-event encoding, the degree values are encoded in
a pulse train following the encoding proposed in [14] with a
fixed sample time and 360 addresses where an event is inserted
in the address of the measured value. The update time is 72ms
in order to have a better implementation of the algorithm as we
have 72/360 = 200µs as the minimum period per pulse. Next,
N events with a delta time fixed at 200µs are generated, where
N is the degree value measured. Finally, the last delta time for
every measure is calculated, corresponding to the difference
between the sample time (72ms) and the result of multiplying
the degrees (N ) by the fixed period (200µs).
IV. RESULTS
The visual results showing the ability of the proposed
encoding algorithms to represent the measured value were
already shown in the previous section. In this section, the main
goal is to compare the amount of transmitted data through an
AER channel, i.e. the data rate when sending event-data from
the microcontroller to another destination, a PC in this case.
With this aim, two tests were experimentally developed: the
first test was done when the measured magnitude is constant
over time, and, in the second case, the measured value is
fluctuating.
Both tests were conducted for a data acquisition time of 20
seconds, controlling all possible variables of the test such as
temperature, fixed supports, mechanical variables, etc., so that
643
repeatability is guaranteed. Three data transmission methods
were tested:
1) Classic data reading and transmission method, i.e. mea-
sured values from the standard sensor interface are
directly transmitted as 12-bit unsigned binary data using
standard transmission at the maximum update frequency
allowed by the sensor.
2) Magnitude-event encoding. After converting read data
from sensors into magnitude-events, data are transmitted
only if changes in the measured value arise.
3) Rate-event encoding where continuous event-data are
sent, according to the measured value and procedure
described above.
A. Data transmission rate using the HC − SR04 ultrasonic
sensor distance.
1) Constant measured value.: The first test consisted on
comparing the data sent by the sensor when there is not a
change physically in the distance between the sensor and an
object.
Table I provides the results of encoding at different distances
for an acquisition time of 20s, in this case). The magnitude-
event encoding generates less events and thus, transmission
time is significantly lower than binary data transmission and
thus, more bandwidth is available for other transmission of in-
formation. The reduction factor is is very high for magnitude-
event since only information for changes is transmitted.
Concerning the rate-event enconding, the results in terms
of generated events and transmission rate is the same as
binary data. This is due to the intrinsic encoding method
where an event data is generated for every measure generating
the same number of events and amount of transmitted data.
However, data information is represented differently and rate-
event encoding is ready to work with spiking systems as
magnitude-event encoded values.
For magnitude-event encoding, the number of events is
directly affected by the variations in the measured value when
the system is already stable. For that reason, the number of
events is not directly related to the measured value but to
the sensor stabilization and noise cancellation. In an ideal
situation the number of events would be one (the changing
event) for a constant value. In our tests, the values measured
were converted to events without any further filtering or
thresholding in order to obtain the events as raw as possible. If
some mechanical stabilization or low-pass filtering would have
been used, the number of data produced would be significantly
smaller.
2) Fluctuating measured values.: For this test, the sensor
was measuring the distance to a point in a camshaft constantly
moving (Figure 5). The camshaft movement generated a
constant sinusoidal wave from a perpendicular point of view,
with a period easily manipulated by the rotation speed. Results
are shown in Table I.
In this case, all three methods are very similar in the number
of generated events since the measured value is constantly
changing, but it is possible to realize that the gradient of
 CONSTANT VALUE
BINARY DATA MAGNITUDE-EVENT RATE-EVENT
Distance Total Transm. Total Transm. Reduction Total Transm. Reduction
(cm) Time(s) Events Time (µs) Events Time (µs) Factor % Events Time (µs) Factor %
33 20 1212 6060 212 1060 82.5 1212 6060 0
25 20 1247 6235 882 4410 29.2 1247 6235 0
20 20 1273 6365 599 2995 52.9 1273 6365 0
16 20 1290 6450 374 1870 71.0 1290 6450 0
11 20 1312 6560 725 3625 44.7 1312 6560 0
FLUCTUATING VALUE
2.2 20 1262 6310 1194 5970 5.3 1262 6310 0
2.6 20 1261 6305 1179 5895 6.5 1261 6305 0
3.5 20 1261 6305 1175 5875 6.8 1261 6305 0
5.7 20 1263 6315 1174 5870 7.0 1263 6315 0
15.2 20 1276 6380 1062 5310 16.7 1276 6380 0
TABLE I
ULTRASONIC DISTANCE SENSOR. RESULTS OF MAGNITUDE AND RATE EVENT ENCODING COMPARED TO THE DIRECT SENSOR DATA (BINARY) AT
DIFFERENT CONSTANT AND FLUCTUATING VALUES. T HE TOTAL NUMBER OF EVENTS AND THE ASSOCIATED TRANSMISSION TIME FOR 20s ACQUISITION
IS SHOWN . T HE REDUCTION FACTOR OF EVENT - BASED ENCODING WITH RESPECT TO THE BINARY DATA TRANSMISSION IS ALSO SHOWN .

Fig. 5. Experimental setup for fluctuating distance measurement by the
ultrasonic distance sensor, a rotating camshaft provides variable distance
detected by the ultrasonic sensor. Ultrasonic sensor (1), Microcontroller (2),
Camshaft (3).
data produced by the magnitude event has a negative relation
against the magnitude of the measure.
271 magnetic compass
B. Data transmission rate for the ttY −
sensor
1) Constant measured value.: In this experiment, the digital
compass was fixed to a plane parallel to the floor in order
to correctly sense the orientation in degrees compared to the
magnetic north, at any moment. The obtained results are shown
in Table II.
The reduction factor of magnitude-event encoding compared
to the binary data transmission is higher than that of the
ultrasonic distance sensor (up to 95.1%) since the sensor is
more stable an less sensible to noise. Thus, less events are
generated since no changes in the measured value are detected.
On the contrary, the rate-encoding algorithm produces an
increased number of events since the encoding of the pulse
train requires more data to be transmitted: for every taken
measure, there could be up to 360 ’addreses and delta times’
sent depending on the orientation angle per event, which is
very useful for neural networks training.
2) Fluctuating measured values.: For this test, the compass
was fixed to a rotating blade turning 270 degrees forward and
backward. The results are shown in Table II. As in the previous
test the amount of data generated is significantly reduced
for the magnitude-event encoding algorithm, also being more
stable than in the case of the ultrasonic sensor and thus, less
events generated. The rate-event encoding remains the same
as for binary data, as expected.
V. C ONCLUSION
Applying magnitude-event encoding for the physical sensor
data can reduce the amount of data transfer significantly. This
effect can be observed for a constant measured value and a
fluctuating movement applied to the sensor as shown in the
results and the visualization in jAER. This not only reduces
the amount of data produced and bandwidth but also allows
the generated data to be directly used to implement algorithm
and filters already developed in jAER for event-based systems
as frameless cameras [15], and spiking systems in general.
Nevertheless, the behaviour and reduction of bandwidth usage
is affected by the quality of the data readings from the sensor
and a filtering or stabilization algorithm could increase the
reduction of transmitted data.
The rate-event encoding algorithm proposes an event en-
coding data without reducing data transmission. However,
it is very useful for post-processing algorithms where this

644
 CONSTANT VALUE
BINARY DATA MAGNITUDE-EVENT RATE-EVENT
Distance Total Transm. Total Transm. Reduction Total Transm. Reduction
(cm) Time(s) Events Time (µs) Events Time (µs) Factor % Events Time (µs) Factor %
0 20 2363 11815 116 580 95.0 850680 4253400 ≥ bin
90 20 2363 11815 120 600 94.9 849960 4249800 ≥ bin
180 20 2361 11805 115 575 95.1 850320 4251600 ≥ bin
270 20 2362 11810 116 580 95.0 850680 4253400 ≥ bin
FLUCTUATING VALUE
0 20 2363 11815 208 1040 91.1 4726 23630 ≥ bin
90 20 2362 11810 235 1175 90.0 214942 1074710 ≥ bin
180 20 2362 11810 221 1105 90.6 427522 2137610 ≥ bin
270 20 2362 11810 214 1070 90.9 640102 3200510 ≥ bin
TABLE II
DIGITAL MAGNETIC COMPASS. RESULTS OF MAGNITUDE AND RATE EVENT ENCODING COMPARED TO THE SENSOR DATA (BINARY) AT DIFFERENT
CONSTANT AND FLUCTUATING VALUES . T HE TOTAL NUMBER OF EVENTS AND THE ASSOCIATED TRANSMISSION TIME FOR 20s ACQUISITION IS SHOWN .
T HE REDUCTION FACTOR OF EVENT -BASED ENCODING WITH RESPECT TO THE BINARY DATA TRANSMISSION IS ALSO SHOWN .

data encoding is required as many detection, classification
or control event-based algorithms requires this encoding. The
results of this algorithm in ultrasonic distance and digital
magnetic sensors suggest that it could be extended to other
sensors.
Comparing both sensors, the digital compass is less sensitive
to noise in the measure, producing more stability and, then,
a better result for both encoding algorithms is generated.
This result suggests that specific adjustements should be done
in event-encoding for each type of sensor. Nevertheless, the
stability of both sensors could be improved with a simple filter
or thresholding technique.
The event-encoding procedure (magnitude or event) to be
used is dependent on the final application. When it is nec-
essary to send information at few data, magnitude-event the
best option, e.g. in an industrial network. However, if it is
necessary to produce more data from the same information,
as in neuromorphic training the rate-event coding has a better
performance and should be used.
In summary, this works shows that using event-based en-
coding algorithm requires low computational cost and provides
event-data ready to be processed with spiking neural networks
and other neuromorphic systems which can provide efficient
results in multiple applications. In this case, two sensors
widely used in mobile robotics as distance and magnetic com-
pass are described. The obtained results would allow the use
of combined sensor information (vision, distance, orientation,
etc.) in neuromorpchic systems so that multiple sources of
information can be combined for advanced descision making
and information processing. All of this at a reduced compu-
tational cost, impacting in low power requirements and small
size for hardware, key factors for mobile systems.
[3] T. Delbruck, M. Pfeiffer, R. Juston, G. Orchard, E. Muggler, A. Linares-
Barranco, and M. Tilden, “Human vs. computer slot car racing using
an event and frame-based davis vision sensor,” in Circuits and Systems
(ISCAS), 2015 IEEE International Symposium on, May 2015, pp. 2409–
2412.
[4] M. A. Mahowald and C. Mead, “The silicon retina,” Scientific American,
vol. 264, no. 5, pp. 76–82, May 1991, pMID: 2052936.
[5] R. Berner, C. Brandli, M. Yang, S.-C. Liu, and T. Delbruck, A 240x180
10mW 12us latency sparse-output vision sensor for mobile applications.
IEEE, Jun 2013, pp. C186–187.
[6] V. Chan, S.-C. Liu, and A. van Schaik, “Aer ear: A matched silicon
cochlea pair with address event representation interface,” IEEE Trans-
actions on Circuits and Systems I: Regular Papers, vol. 54, no. 1, pp.
48–59, Jan 2007.
[7] T. Delbruck, “Frame-free dynamic digital vision,” in Proceedings of Intl.
Symp. on Secure-Life Electronics, Advanced Electronics for Quality Life
and Society, 2008, pp. 21–26.
[8] M. A. Sivilotti, “Wiring considerations in analog vlsi systems, with ap-
plication to field-programmable networks,” Ph.D. dissertation, Pasadena,
CA, USA, 1991, uMI Order No. GAX91-37292.
[9] G. Passetti, F. Corradi, M. Raglianti, D. Zambrano, C. Laschi, and
G. Indiveri, “Implementation of a neuromorphic vestibular sensor with
analog VLSI neurons,” in Biomedical Circuits and Systems Conference,
(BioCAS), 2013. IEEE, Oct. 2013, pp. 174–177.
[10] “jAER Open Source Project,” url: http://jaer.wiki ; sourceforge.net, 2007
[ONLINE].
[11] F. Rieke, D. Warland, R. de Ruyter van Steveninck, and W. Bialek,
Spikes: Exploring the Neural Code. Cambridge, MA, USA: MIT Press,
1999.
[12] W. Gerstner and W. Kistler, Spiking Neuron Models: An Introduction.
New York, NY, USA: Cambridge University Press, 2002.
[13] J. Barrios, “Ultrasonic and digital compass,” url:
https://github.com/juabarav/, 2016 [ONLINE].
[14] A. Linares-Barranco, G. Jimenez-Moreno, B. Linares-Barranco, and
A. Civit-Balcells, “On algorithmic rate-coded aer generation,” Neural
Networks, IEEE Transactions on, vol. 17, no. 3, pp. 771–788, May 2006.
[15] E. Y. Ahn, J. H. Lee, T. Mullen, and J. Yen, “Dynamic vision sensor
camera based bare hand gesture recognition,” in Computational Intelli-
gence for Multimedia, Signal and Vision Processing (CIMSIVP), 2011
IEEE Symposium on, April 2011, pp. 52–59.

REFERENCES
[1] J. Conradt, M. Cook, R. Berner, P. Lichtsteiner, R. Douglas, and
T. Delbruck, A pencil balancing robot using a pair of AER dynamic
vision sensors, May 2009, pp. 781–784.
[2] T. Delbruck and M. Lang, “Robotic goalie with 3 ms reaction time at
4load using event-based dynamic vision sensor,” Frontiers in Neuro-
science, vol. 7, p. 223, 2013, pMID: 24311999 PMCID: PMC3836084.

645