/Ryad Benosman

Ryad Benosman

Adjunct Faculty
Email: rbenosma@andrew.cmu.edu
Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Ave
Pittsburgh, PA 15213

I work on Neuromorphic Event based Vision, my lab develops several event based cameras and associated computer vision and machine learning algorithms with the goal to build complete neuromorphic systems (sensors, brain-like computation devices, brain and retina prosthetics , and algorithms). My interest is to solve open problems both in robot navigation, object recognition, medecine, life long learning, robotics and general AI. I develop event based SLAM, tracking, object recognition, using neuromoprhic time based techniques that I pioneered a decade ago.

The neuromorphic ATIS event-based vision sensor (left) takes in a traffic intersection (right)[top]. The sensor outputs a measurement only when the light striking a pixel shifts by a preset amount. When the light level crosses that threshold, circuitry attached to the pixel produces a change-detection event and triggers an illuminance measurement, encoded by the interval between two more events. The results for the entire pixel array can be viewed for a given time slice, but only changing pixels contribute to these images: the positive and negative level-crossing events [white and black, respectively, middle right] and associated illuminance measurements [nonblack areas, bottom right]


1. R.Benosman, S.B.Kang, (2002) Panoramic Vision : Sensors Theory and Applications, Springer Verlag, Monographs in Computer Science, NY, ISBN 0-387-95111-3. re-edited in 2013.
2. Z.J Ni, C. Pacoret, R. Benosman, S. Regnier (2014) Haptic Feedback Teleoperation of Optical Tweezers, John Wiley & Sons
1. R. Hornig, M. Dapper, E. Le Joli↵, R. Hill, K. Ishaque, C.Posch, R. Benosman, Y. Lemer, J.A. Sahel, S. Picaud (2017) Pixium Vision : First Clinical Results and Innovative Developments, Artificial Vision :A Clinical Guide, Springer, Editors : Gabel, Veit Peter (Ed.)
2. J.A.Sahel , S.Picaud, R.Benosman, et al., (2011) Retinal implants : from pathophysiology to nanoscience. Nanosciences in medicine. Springer Healtcare Paris, pp 208-213.
3. C. Bartolozzi, R. Benosman et al (2016), Wiley Encyclopedia of Electrical and Electronics Engineering
4. T.Debaecker, R.Benosman, (2009), Image Sensor model using Geometric Algebra : from calibration to motion estimation, Applications of Geometric Algebras in Computer Science and Engineering, Springer Verlag
5. S.H.Ieng, R.Benosman, (2006), Geometric construction of the caustic surface of a catadioptric non central sensor, Beyond the single view point, Kluwer 06, Editors K.Daniilidis and R.Klette.

Recent Patents
1. 3D electrodes for retina stimulation, FR 10 53381 (licensed to Pixium Vision),
2. Method of controlling a Visual restoration device FR 11 54116 (licensed to Pixium Vision and Gensight Biologics),
3. Event-based 3D reconstruction of scenes from Event-based cameras, FR 11 61320 (licensed to Chrono- cam),
4. Event-based Optical flow from an event based camera FR 11 62137 (licensed to Chronocam and Gensight Biologics)
5. Event-based Iterative closest point for visual tracking FR 13 53838 (licensed to Chronocam),
6. Device to visualize a sequence of image from an event based camera FR1452557 (licensed to Pixium Vision and Gensight Biologics)
7. Method to display an event based scene for visualization and retina stimulation FR1559601 (licensed to Pixium Vision and Gensight Biologics),
8. Event based Iterative Fast Fourrier Transform TFD Iterative FR1552154 (Licensed to Chonolife),
9. Event based stereo matching FR1552155 (licensed to Chronocam),
10. A Hierarchy Of event-based Time-Surfaces for pattern recognition, pending (option for licensing from Chronocam),
11. Passive subretinal implant using an Active Shunt, pending (option for licensing from Pixium Vision),
12. Downsampling-Asynchronousspatio-temporaldownsamplingforlowresolutionretinalprostheses,EP15306193 22-07-2015 (licensed to Pixium Vision),
13. Software libATIS (SDK) (licensed to Chronocam),
14. Software KaER (SDK) (licensed to Chronocam),
15. Spike Time Interval Computational Kernel, a Framework for General Purpose Computation Using Neu- rons, Precise Timing, Delays, and Synchrony, FR1556659, 13-07-2015, (licensed to Brainiac)

73. D. Reverter Valeiras, X. Clady, S.H. Ieng, R. Benosman (2018).Event-Based Line Fitting and Segment Detection using a Neuromorphic Visual Sensor, IEEE Transactions on Neural Networks and Learning Systems, to appear
72. G. Cohen, S. Afshar, G. Orchard, J. Tapson, R Benosman, A. Van Shaik (2018)Spatial and Temporal Downsampling in Event-Based Visual Classification, IEEE Transactions on Neural Networks and Learning Systems, to appear
71. A. Marcireau, S.H. Ieng, G. Chenegros, C. Simon Chane, R. Benosman (2018) Event-based color segmenta- tion with a high dynamic range event-based color sensor, Frontiers in Neuroscience, section Neuromorphic Engineering, to appear
70. G Haessig, A Cassidy, R Alvarez, R Benosman, G Orchard (2018), Spiking Optical Flow for Event-based Sensors Using IBM’s TrueNorth Neurosynaptic System, IEEE Transactions on Biomedical Circuits and Systems (TBioCAS), accepted, (arXiv preprint arXiv :1710.09820)
69. X Clady, JM Maro, S Barr ́e, RB Benosman (2017) A Motion-Based Feature for Event-Based Pattern Recognition, Frontiers in neuroscience 10, 594
68. S.H. Ieng, J. Carneiro, R.B. Benosman (2017) Event-Based 3D Motion Flow Estimation Using 4D Spatio Temporal Subspaces Properties, Frontiers in neuroscience 10, 596
67. X Berthelon, G Chenegros, N Libert, JA Sahel, K Grieve, R Benosman (2017) Full-field OCT technique for high speed event-based optical flow and particle tracking, Optics Express 25 (11), pp 12611-12621
66. M Osswald, SH Ieng, R Benosman, G Indiveri (2017) A spiking neural network model of 3D perception for event-based neuromorphic stereo vision systems, Nature Scientific reports vol 7, number 40703
65. Q. Sabatier, S.H. Ieng, R. Benosman (2017), ”Asynchronous Event-based Fourier Analysis”, IEEE Tran- sactions on Image Processing 26 (5), pp 2192-2202
64. X. Lagorce, G. Orchard, F. Galluppi, B. E. Shi, R. Benosman (2016), ”HOTS : A Hierarchy Of event-based Time-Surfaces for pattern recognition”, IEEE Trans. Pattern Anal. Mach. Intell, July, doi :10.1109/TPAMI.2016.25747
63. X. Clady, J.M Maro, S. Barre, R. Benosman1 (2016), ”A Motion-based Feature for Event-based Vision”, Frontiers on Neuromorphic engineering , Research Article, Nov
62. S.H. Ieng, J. Carneiro, R. Benosman (2016), ”Event-based 3D Motion Flow Estima tion using 4D Spatio Temporal Subspaces Properties”,Frontiers on Neuromorphic engineering ,Research Article,
61. L. A. Camunas-Mesa, T. Serrano-Gotarredona, S. Ieng, R. Benosman, B. Linares-Barranco (2016) Event- driven Stereo Visual Tracking Algorithm to Solve Object Occlusion, IEEE Trans. on Neural Network and Learning Systems,
60. S. Kime, F. Galluppi, R Benosman, J. Lorenceau, (2016), ”Psychophysical assessment of perceptual per- formance with varying display frame rates”, IEEE/OSA Journal of Display Technology, to appear
59. C. Simon Chane, S.H. Ieng, C. Posch, R Benosman (2016) ”Event-Based Tone Mapping for Asynchronous Time-Based Image Sensor”, Frontiers in Neuroscience(Neuromorphic Engineering), to appear.
58. M. Osswald, R Benosman, G. Indiveri, (2016) ”Spikes to the Rescue : Understanding 3D Perception and Solving Stereo Vision Using Event-based Neuromorphic Computing Architectures”, Nature scientific reports, to appear
57. D.ReverterValeiras,S.Kime,S.H.Ieng,R.Benosman(2016),”AnEvent-BasedSolutiontothePerspective- n-Point Problem”, Frontiers in Neuroscience 10(208), April
56. D. Reverter-Valeiras, G. Orchard, S.H. Ieng, R. Benosman (2016), ”Neuromorphic Event-Based 3D Pose Estimation”, in Frontiers in Neuroscience, VOL.9, number 00522,
55. G. K. Cohen, G. Orchard, S.H. Ieng, J. Tapson, R. Benosman, A. van Schaik (2016) ”Skimming Digits : Neuromorphic Classification of Spike- Encoded Images”, Frontiers in Neuroscience, vol 10, issue 184,
54. M. Giulioni, X. Lagorce, F. Galluppi, R. Benosman (2016), ”Event-based computation of motion flow on a neuromorphic analog neural platform”, Frontiers in neuroscience, Feb 16 ;10 :35.
53. C. Posch, R. Benosman, R. Etienne-Cummings (2015), ”Giving Machines Humanlike eyes”, IEEE Spectrum 52(12) :44-49, December
52. A. Bendali, L. Rousseau, G. Lissorgues, E. Scorsone, M. Djilas, J. Degardin, E. Dubus, S. Fouquet, R. Benosman, P. Bergonzo, J.A. Sahel, S. Picaud (2015) ”Synthetic 3D diamond-based electrodes for flexible retinal neuroprostheses : Model, production and in vivo biocompatibility”, Biomaterials. 2015 Oct ;67 :73- 83.
51. X. Lagorce, R. Benosman (2015) ”Stick : Spike time interval computational kernel, a framework for general purpose computation using neurons, precise timing, delays, and synchrony, Neural Computation”, Neural Computation (MIT Press), 27 (11), pp.2261-2317.
50. G. Orchard, C. Meyer, R. Etienne-Cummings, C. Posch, N. Thakor, R. Benosman (2015) ”HFirst : A Temporal Approach to Object Recognition”, IEEE Trans. Pattern Anal. Mach. Intell. 37(10) : 2028-2040,
49. D. Reverter Valeiras, X. Lagorce, X. Clady, C. Bartolozzi, S. H. Ieng, R. Benosman (2015) ”An Asynchro- nous Neuromorphic Event-Driven Visual Part-Based Shape Tracking,A ̈u` in IEEE Transactions on Neural Networks and Learning Systems, Volume :26, Issue : 12, Page(s) : 3045 – 3059,
48. H. Akolkar, C. Meyer, X. Clady, O. Marre, Ch. Bartolozzi, S.Panzeri, R.Benosman,(2015) ”What can neuromorphic event-based precise timing add to spike-based pattern recognition ?”, Neural Computation, Mar ;27(3),
47. X. Lagorce, E. Stromatias, F. Galluppi, L. Plana, S.C. Liu, S. Furber, R.B. Benosman (2015) ”Breaking The Millisecond Barrier On SpiNNaker : Implementing Asynchronous Event-Based Plastic Models With Microsecond Resolution”, in Frontiers in Neuroscience,VOL.9, number 00206,
46. X. Lagorce, S.H. Ieng, X. Clady, M. Pfei↵er, R.B. Benosman (2015) ”Spatiotemporal Features for Asyn- chronous Event-based Data”, Frontiers in Neuroscience, VOL.9, number 00046, 2015
45. F. Galluppi, X. Lagorce, E. Stromatias, M. Pfei↵er, L. Plana, S.B. Furber, R.B. Benosman (2015) ”A fra- mework for plasticity implementation on the SpiNNaker neural architecture,A ̈u`, Frontiers in Neuroscience, VOL.8, number 00429,
44. A. Bendali, Y. Roupioz, V. Forster, T. Livache, S..L. Bouguelia, R.B. Benosman, P. Mailley, J.A Sahel, S.Picaud,(2014) ”Cell specific electrodes for neuronal network reconstruction and monitoring”, Analyst, Probe and Chip Approaches to Cell Analysis themed issue.
43. X. Lagorce, C. Meyer, S.H. Ieng, D. Filliat, R. Benosman (2014) ”Asynchronous Event-Based Multikernel Algorithm for High-Speed Visual Features Tracking,A ̈u` in Transactions on Neural Networks and Learning Systems, Volume :26, Issue : 8, Page(s) : 1710 – 1720, Sept.
42. L.A. Camunas-Mesa, T. Serrano-Gotarredona, S.H. Ieng, R. Benosman, B. Linares-Barranco (2014) ”On the use of orientation filters for 3D reconstruction in event-driven stereo vision.” Front Neurosci. 2014 Mar 31 ;8 :48.
41. X. Clady, C. Clercq Charles, S.H. Ieng, F. Houseini, M. Randazzo, L. Natale, C. Bartolozzi, R.B. Benosman (2014) ”Asynchronous Visual Event-based Time-to-Contact” Frontiers in Neuroscience, VOL.8, number 00009,
40. S.-H. Ieng, C. Posch, R. Benosman,(2014) ”Asynchronous Neuromorphic Event-driven Image Filtering”, Proceedings of the IEEE, Volume 102, issue 10, September,
39. A. Bendali, H. Lorach, M. Djilas, O. Marre, R. Bensoman, L. Rousseau, G. Lissorgues, E. Scorsone, P. Bergonzo, J.A. Garrido, J.A. Sahel, S. Picaud (2013) ”Restoring vision in blind patients following photoreceptor degeneration : clinical results and future challenges”, Biol Aujourdhui.207(2), pp12332. doi : 10.1051/jbio/2013008
38. Z. Ni, S.-H. Ieng, C. Posch, S. Regnier, R.B. Benosman(2015) ”Visual Tracking using Neuromorphic Asynchronous Event-based Cameras, Neural Computation, April, Vol. 27, No. 4, Pages 925953,
37. X. Lagorce, C.Meyer, S.-H. Ieng, D.Filliat, R.Benosman, ”Asynchronous Event-Based Multi-kernel Al- gorithm for High Speed Visual Features Tracking”, IEEE transaction on Neural Networks and Learning Systems, Volume :PP, issue : 99, doi : 10.1109/TNNLS.2014.2352401, 2014
36. A. Shaverdian, R.P Agarwal, R.B Benosman, ”The bistability of higher order di↵erences of discrete periodic signals, Advances in di↵erence equations”, 2014 :60 doi :10.1186/1687-1847-2014-60
35. L.A. Camunas-Mesa, T. Serrano-Gotarredona, S.-H. Ieng, R. Benosman, B. Linares-Barranco, (2014) ”On the use of Orientation Filters for 3D Reconstruction in Event-Driven Stereo Vision”, Frontiers in Neuromorphic Engineering.
34. X. Clady, C. Clercq, S.-H. Ieng, F. Houseini, M. Randazzo, L. Natale, C. Bartolozzi, R. Benosman,(2014) ”Asynchronous Visual Event-based Time-to-Contact”, Front. Neurosci., 07 February | doi : 10.3389/fnins.2014.00009.
33. K. Loulier, R. Barry, P. Mahou, Y. Le Franc, W. Supatto, K.S. Matho, S.-H. Ieng, S. Fouquet, E. Dupin, R. Benosman, A. Chedotal, E. Beaurepaire, X. Morin, J. Livet, ”Multiplex cell and lineage tracking with combinatorial labels”, Neuron, Volume : 12, pp 234238. 2014
32. A. Bendali, H. Lorach, M. Djilas, O. Marre, R. Bensoman, L. Rousseau, G. Lissorgues, E. Scorsone, P. Bergonzo, J.A. Garrido, J.A. Sahel, S. Picaud (2013) Restoring vision in blind patients following photo- receptor degeneration : clinical results and future challenges, Biol Aujourdhui. 2013 ;207(2) :123-32. doi : 10.1051/jbio/2013008,
31. A.Y. Shahverdian, A. Kilicman, R.B. Benosman, (2014) Higher Di↵erence Structure of Some Discrete Processes, Journal of Advances in Di↵erence Equations,
30. Z. Ni, S.H Ieng, C. Posch, S. Regnier, R.B. Benosman, (2014),Visual Tracking using Neuromorphic Asyn- chronous Event-based Cameras, Neural Computation, vol 27, issue 4, pp92553,
29. C.Meyer, H.Akolkar, O.Marre, Ch. Bartolozzi, S.Panzeri, R.Benosman (2014), What can asynchronous event-based acquisition add to pattern recognition ?, Neural Computation,vol 27, issue 3, pp56193
28. X.Lagorce, C.Meyer, S.H Ieng, D.Filliat, R.Benosman, (2014) Asynchronous Event-Based Multikernel Algorithm for High Speed Visual Features Tracking, IEEE transaction on Neural Networks and Learning Systems, pp 1710-1720, vol 26, issue 8
27. K. Loulier1, K.S. Matho, Y. Le Franc, W. Supatto, R. Barry, P. Mahou, S.H. Ieng, S. Fouquet, A. Chedotal, R. Benosman, E. Beaurepaire, X. Morin, J. Livet (2013) Studying connectivity and brain development with combinatorial Brainbow labels, Frontiers in Neuroinformatics, January
26. X.Clady, C.Clercq, S.H Ieng, F.Houseini, M.Randazzo, L.Natale, C.Bartolozzi, R.Benosman (2013) Asyn- chronous Visual Event-based Time-to-Contact, Frontiers in Neuromorphic Engineering,
25. K.Loulier, R.Barry, P.Mahou, Y. Le Franc, W. Supatto, K.S. Matho, S.H. Ieng, S.Fouquet, E.Dupin, R.Benosman, A.Ched ́otal, E.Beaurepaire, X.Morin, J.Livet, (2013) Multiplex cell and lineage tracking with combinatorial labels, Neuron, vol 12, pp 234-238,
24. J.Carneiro, S.H.Ieng, C.Posch, R.Benosman, (2013) Asynchronous Event-Based 3D Reconstruction From Neuromorphic Retinas, Neural Networks, Volume 45, September, 2013 Pages 27-38
23. R.Benosman, C.Clercq, S.H.Ieng, C.Posch, C.Bartolozzi, (2013) Asynchronous Event-Based Motion Flow, Neural Networks, accepte ́,
22. A.Y.Shahverdian, A.Kilicman, R.Benosman, (2012) Higher Di↵erence Structure of Some Discrete Pro- cesses, Advances in Di↵erence Equations, 2012 :202 doi :10.1186/1687-1847-2012-202
21. F.Dong, S.H.Ieng., X.Savatier, R.Etienne-Cumming, R.Benosman, (2012) ,A ̈u ́Plenoptic Cameras in Real- Time Robotics,,A ̈u`, International Journal of Robotics Research, Nov 2012,
20. H.Lorach, O.Marre, J.A.Sahel, R.Benosman,S.Picaud (2012) Neural stimulation for visual rehabilitation : advances and challenges, Journal of Physiology of Paris, Elsevier
19. R.Benosman, S-H. Ieng , C. Clercq, C. Bartolozzi, M. Srinivasan, (2012) Asynchronous frameless event- based optical flow, Neural Networks. Volume 27, March, Pages 32,A ̈`ı37,
18. S.Maybank, S-H Ieng, R. Benosman, (2012). A Fisher-Rao metric for paracatadioptric images of lines. International Journal on Computer Vision,
17. Z.Ni, C. Pacoret, R. Benosman, S-H. Ieng, S. Re ́gnier, S. (2012). Asynchronous Event Based High Speed Vision for Micro-particles Tracking. Journal of microscopy. Volume 245, Issue 3, pages 236,A ̈`ı244, March,
16. Z.NI, A. Bolopion, J. Agnus, R. Benosman, S. Re ́gnier, (2012) Asynchronous Event-based Visual Shape Tracking for Stable Haptic Feedback in Microrobotics, IEEE Transactions on Robotics, 28 (5), pp.1081- 1089.
15. P.Rogister, R. Benosman, S-H. Ieng, P. Lichtsteiner, T. Delbruck, (2012). Asynchronous Event-based Binocular Stereo Matching. IEEE Transactions on Neural Networks. Neural Netw. Learning Syst., Vol. 23, Nr. 2 (2012) , p. 347-353.
14. R.Chang, S.H. Ieng, R. Benosman, (2012) Camera Networks Synchronization Using Time Shape Cohe- rence, Computer Vision and Image Understanding,
13. N.Froger,L.Cadetti,H.Lorach,J.Martins,A.P.Bemelmans,E.Dubus,J.Degardin,D.Pain,V.Forster,L.Chicaud, I.Ivkovic, M.Simonutti, S.Fouquet, F.Jammoul, T.Lev ́eillard, R.Benosman, J.A.Sahel, S.Picaud (2012) Taurine provides neuroprotection against retinal ganglion cell degeneration. PloS one.
12. H.Lorach, R.Benosman, S.H.Ieng, J.Sahel, S.Picaud, (2012) Artificial retina : the multichannel processing and temporal dynamic of the biological system achieved with an asynchronous model, Journal of Neural Engineering,
11. R.Benosman, S.H.Ieng , P.Rogister, C.Posch, (2011) Asynchronous Event-Based Hebbian Epipolar Geo- metry, IEEE Transaction on Neural Networks, 22(11) :1723-34.
10. Chiara Bartolozzi, Charles Clercq, Neeraj Mandloi, Francesco Rea, Giacomo Indiveri, Daniel Fasnacht, Giorgio Metta, Michael Hofstatter, Ryad Benosman (2011) eMorph : Towards neuromorphic robotic vision, Procedia Computer Science, Vol 7, pp 163-165
9. R.Ramirez, Y.Guo, S.H.Ieng, F.Plumet, R.Benosman, B.Gas, (2011) Omni-Directional Camera and Fuzzy Logic Path Planner for Autonomous Sailboat Navigation. Research in Computing Science, Issue in Ad- vances in Computer Science and Electronic Systems. Vol 52 Pages 335-346.
8. M.Djilas,C.Oles,H.Lorach,A.Bendali,A.Degardin,E.Dubus,G.Lissorgues-Bazin,L.Rousseau,R.Benosman, S.Joucla, B.Yvert, P.Bergonzo, J.Sahel, S.Picaud (2011). Three-dimensional electrode arrays for retinal prostheses : modeling, geometry optimization and experimental validation. Journal of Neural Engineering. Vol 8
7. R.Benosman, (2009) Neuromorphic Asynchronous Visual Systems : toward a new paradigm of visual-based semiosis, Journal of Biosemiotics, ISSN : 1875-1342, SpringerVerlag.
6. R.Chang, S.Ieng, R.Benosman, (2009) Cameras Swarms Synchronization from Structures, Autonomous Robots, ISSN : 0932-8092, Springer Verlag.
5. T.Debaecker, R.Benosman (2007) Bio-inspired model of visual information codification for localization : from retina to the Lateral Geniculate Nucleus. Journal of Integrative Neuroscience, 6(3) :33.
4. L.Smadja, R.Benosman, J.Devars (2005) Hybrid Stereo Configurations Through a Cylindrical Sensor Ca- libration, Journal of Machine Vision and Applications, July.
3. H.Ishiguro, R.Benosman (2005) Omnidirectional vision issues and perspectives, Journal of Machine Vision and Applications, 14(2).
2. R.Benosman, T.Maniere, J.Devars, (1999) Panoramic sensor calibration. Pattern Recognition Letters, 483-490, Elseiver, July
1. T.Maniere, R.Benosman, C.Gastaud, J.Devars, (1997) Vision System dedicated to peripheral 3D scene reconstruction. Journal of Electronic Imaging, Cambridge, 560-574
1. Francesco Galluppi, Didier Pruneau, Jo ̈el Chavas, Xavier Lagorce, Christoph Posch, Guillaume Che- negros, Gilles Corduri ́e, Charlie Galle, Nicolas Oddo, Ryad Benosman (2017) A stimulation platform for optogenetic and bionic vision restoration, Circuits and Systems (ISCAS), 2017 IEEE International Symposium on, 1-4
2. S Clavreul, L Abdeladim, E Hernandez, S-H Ieng, J Durand, R Barry, R Benosman, G Bonvento, E Beaurepaire, J Livet, K Loulier (2017) Multicolor clonal analysis to study astrocyte network development in the mouse cerebral cortex GLIA 65, E128-E129
3. Gregory Gauvain, Romain Caplette, Himanshu Akolkar, Celine Jaillard, Didier Pruneau, Deniz Dalkara, Ryad Benosman, Serge A Picaud (2017) Long term visual restoration using optogenetic engineering of retinal ganglion cells with AAV2. 7m8-ChrimsonR-tdTomato, Investigative Ophthalmology & Visual Science 58 (8), 1219-1219
4. Quentin Sabatier, Gregory Gauvain, Corentin Jo↵rois, Pierre M Daye, Jo ̈el Chavas, Didier Pruneau, Serge A Picaud, Ryad Benosman (2017) Modeling the dynamics of light-driven microbial opsin ChrimsonR, Investigative Ophthalmology & Visual Science 58 (8), 5873-5873
5. Himanshu Akolkar, Gregory Gauvain, Romain Caplette, Deniz Dalkara, Celine Jaillard, Jose Alain Sahel, Didier Pruneau, Serge A Picaud, Ryad Benosman (2017) Visual acuity and optical flow in primate retinal ganglion cells treated with an optogenetic vision restoration strategy using ChrimsonR, Investigative Ophthalmology & Visual Science 58 (8), 5883-5883
6. Q. Sabatier, G. Gauvain, C. Jo↵rois, P.M. Daye, J. Chavas, J. A. Sahel, D. Pruneau, S.A. Picaud, R. Benosman (2017), Modeling the dynamics of light-driven microbial opsin ChrimsonR, ARVO 2017 Baltimore,
7. H. Akolkar, G. Gauvain, R. Caplette, D. Dalkara, C. Jaillard, J.A. Sahel, D. Pruneau, S.A. Picaud, R. Benosman (2017), Visual acuity and optical ow in primate retinal ganglion cells treated with an optogenetic vision restoration strategy using ChrimsonR, ARVO, Baltimore
8. G. Gauvain, R. Caplette, H. Akolkar, C. Jaillard, D. Pruneau, J.A. Sahel, D. Dalkara, R. Benosman, S.A. Picaud, (2017) Long term visual restoration using optogenetic engineering of retinal ganglion cells with AAV2.7m8- ChrimsonR-tdTomato, ARVO 2017 Baltimore
9. Anne M Douar, Celine Bouquet, Didier Pruneau, Joel Chavas, Deniz Dalkara, Jens Duebel, Ryad Benos- man, Guillaume Chenegros, Serge Picaud, Jose Sahel, Nitza Thomasson (2016) Optogenetic Engineering of Retinal Ganglion Cells with AAV2. 7m8-ChrimsonRtd-Tomato (GS030-DP) Is Well Tolerated and Induces Functional Responses to Light in Non-Human Primates, Molecular Therapy, Volume 24, pp S106-S107
10. Jose Sahel, Deniz Dalkara, Jens Duebel, Ryad Benosman, Guillaume Chenegros, Anne Douar, Joel Cha- vas, Celine Bouquet, Didier Pruneau, Botond Roska, Serge A. Picaud. (2016) Optogenetic engineering of retinal ganglion cells with AAV2.7m8- ChrimsonR-tdTomato (GS030) in combination with an event- based camera photostimulation device, ARVO
11. G Orchard, X Lagorce, C Posch, S Furber, R Benosman, F Galluppi (2015) Live demonstration : Real-time event-driven object recognition on SpiNNaker, Circuits and Systems (ISCAS), 2015 IEEE International Symposium on, 1903-1903
12. R. Benosman (2015) Neuromorphic Event-based Time Oriented Vision Conference on Imaging Systems and Applications,
13. X Lagorce, C Meyer, SH Ieng, D Filliat, R Benosman (2014) Live demonstration : Neuromorphic event- based multi-kernel algorithm for high speed visual features tracking, Biomedical Circuits and Systems Conference (BioCAS), 2014 IEEE, 178-178
14. Himanshu Akolkar, David Reverter Valeiras, Ryad Benosman, Chiara Bartolozzi (2015) Visual-auditory saliency detection using event-driven visual sensors, International Conference on Event-based Control, Communication, and Signal Processing (EBCCSP), Krakow,
15. Luis Alejandro Camunas-Mesa, Teresa Serrano-Gotarredona, Bernabe Linares-Barranco, Ryad Benos- man (2014) Event-driven stereo vision with orientation filters,,A ̈C ̧in,A ̈C ̧Proceedings IEEE International Symposium on Circuits and Systems (ISCAS), June 2014
16. Z Ni, M Yin, C Pacoret, R Benosman, S Re ́gnier (2014) First high speed simultaneous force feedback for multi-trap optical tweezers, Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International …
17. G Orchard, D Matolin, X Lagorce, R Benosman, C Posch (2014) Accelerated frame-free time-encoded multi-step imaging, Circuits and Systems (ISCAS), 2014 IEEE International Symposium on, 2644-2647
18. X Lagorce, SH Ieng, R Benosman (2013) Event-based features for robotic vision Intelligent Robots and Systems (IROS), IEEE/RSJ International …
19. G Orchard, R Benosman, R Etienne-Cummings, NV Thakor (2013) A spiking neural network architecture for visual motion estimation, Biomedical Circuits and Systems Conference (BioCAS), 298-301
20. M Djilas, R Benosman, P Bergonzo, C Posch, J Sahel, S Picaud (2013) Reducing the Number of Stimu- lators and Electrical Tracks in High-Resolution Visual Prostheses, ARVO Investigative Ophthalmology & Visual Science 54 (15), 1064-1064
21. Teresa Serrano-Gotarredona, Jongho Park, Alejandro Linares-Barranco, Alvaro Jimenez, Ryad Benos- man, Bernabe ́Linares-Barranco(2013) Improved contrast sensitivity DVS and its application to event- driven stereo vision, Circuits and Systems (ISCAS), 2013 IEEE International Symposium on, 2420-2423, 2013
22. Z Ni, C Pacoret, R Benosman, S Reg ́nier (2013) 2D high speed force feedback teleoperation of optical tweezers Robotics and Automation (ICRA), 2013 IEEE International Conference on, 1700-1705
23. A Bolopion, Z Ni, J Agnus, R Benosman, S Re ́gnier (2012) Stable haptic feedback based on a dynamic vision sensor for microrobotics Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International …
24. David Filliat, Emmanuel Battesti, Step ́hane Bazeille, Guillaume Duceux, Alexander Gepperth, Lotfi Harrath, Islem Jebari, Rafael Pereira, Adriana Tapus, Cedric Meyer, Sio Hoi Ieng, Ryad Benosman, Eddy Cizeron, Jean-Charles Mamanna, Benoit Pothier (2012) Rgbd object recognition and visual texture classification for indoor semantic mapping Technologies for Practical Robot Applications (TePRA), 2012 IEEE International Conference on pp 127-132
25. Amel Bendali, Elisabeth Dubus, Julie De ́gardin, Gaelle Lissorgues-Bazin, Lionel Rousseau, Milan Djilas, Philippe Bergonzo, Ryad Benosman, Serge Picaud, JoseA ́lain Sahel (2012) Retinal prostheses : diamond biocompatibility and 3D structure Investigative Ophthalmology & Visual Science Vol 53(14) pp 5528- 5528, ARVO (The Association for Research in Vision and Ophthalmology)
26. Yan Guo, Miguel Romero, Sio-Hoi Ieng, Frederic Plumet, Ryad Benosman, Bruno Gas (2011) Reactive path planning for autonomous sailboat using an omni-directional camera for obstacle detection IEEE International Conference on Mechatronics (ICM), 2011 pp 445-450
27. Islem Jebari, Step ́hane Bazeille, Emmanuel Battesti, Hassene Tekaya, Marius Klein, Adriana Tapus, David Filliat, Ced ́ric Meyer, Sio-Hoi Ieng, Ryad Benosman, Eddy Cizeron, Jean-Charles Mamanna, Benoit Pothier (2011) IEEE Conference on Technologies for Practical Robot Applications (TePRA), pp 151-156
28. Hugo Romero 1, 2 Sergio Salazar 1, 2 Rogelio Lozano 1 Ryad Benosman 3 (2007) Real-time Visual Servoing Control of a Four-rotor Rotorcraft, 9th IFAC Workshop ALCOSP’07, 2007, Russia. pp.” 2007
29. Yan Guo, Sio-Hoi Ieng, Miguel Romero, Ryad Benosman, Bruno Gas(2011) Obstacle detection using integration of omni-directional camera and inertial sensor, Proceedings of Clawar, vol 11(82)
30. Miguel Romero, Yan Guo, Sio-Hoi Ieng, Frederic Plumet, Ryad Benosman, Bruno Gas (2011) Omni- directional camera and fuzzy logic path planner for autonomous sailboat navigation Iberoamerican Confe- rence on Electronics Engineering and Computer Science
31. M Djilas, H Lorach, G Lissorgues-Bazin, L Rousseau, L Cadetti, P Bergonzo, R Benosman, S-H Ieng, S Picaud (2010) Three-Dimensional Electrode Arrays for Retinal Prostheses : From Modeling to in vivo Testing, ARVO/Investigative Ophthalmology & Visual Science Vol 51(13), pp 3036-3036, (The Association for Research in Vision and Ophthalmology)
32. Thibaud Debaecker, Ryad Benosman, Sio H Ieng (2010) Image Sensor Model Using Geometric Algebra : From Calibration to Motion Estimation Geometric Algebra Computing, pp277-297, Springer London
33. Loic Lacheze, Yan Guo, Ryad Benosman, Bruno Gas, Charlie Couverture (2009) Audio/video fusion for objects recognition Intelligent Robots and Systems, 2009. (IROS) 2009. IEEE/RSJ International Conference on pp652-657
34. Chang,R. and Ieng,S.H. and Benosman,R. (2008). Synchronization Using Shapes. British Machine Vision Conference (BMVC). Leeds.
35. Chang,R. and Ieng,S.H. and Benosman,R. (2008). Using Structures to Synchronize Cameras of Robots Swarms. International Conference On Intelligent Robots and Systems (IROS). Nice.
36. Debaecker,T. and Benosman, R. and Ieng, S.H. (2008). Cone-pixels camera models using conformal geometric algebra for linear and variant scale sensors. 3rd International Conference on Applications of Geometric Algebras in Computer Science and Engineering (AGACSE) 2008.
37. Lache ́ze, L. and Benosman, R. and Meyer J.-A. (2008). Integration of an Omnidirectional Visual System with the Control Architecture of Psikharpax. FROM ANIMALS TO ANIMATS, The 10th International Conference on the SIMULATION OF ADAPTIVE BEHAVIOR (SAB,A ̈ˆo08). Osaka, Japan.
38. Chang,R. and Ieng,S.H. and Benosman,R. and Lacheze,L. and Debaecker,T. (2008). Auto-Organized Visual Perception Using Distributed Camera Network. European Conference on Computer Vision(ECCV) – Omnivis. . Marseille. (Best Paper Award).
39. Lache ́ze,L. and Benosman, R. (2008). Image sampling for localization using entropy. International Confe- rence on Pattern Recognition (ICPR). Tampa, Florida.
40. Guitteny,V. and Benosman,R. and Charbuillet, C. (2008). Synchronizing Video Sequences from Temporal Epipolar Lines Analysis. Advanced Concepts for Intelligent Vision Systems (ACVS’08). Juan Les Pins.
41. Debaecker, T. and Benosman, R. and Ieng, S. H. (2008). Cone pixels Camera Models. European Confe- rence on Computer Vision(ECCV) – Omnivis. Marseille.
42. Lache ́ze, L. et Benosman, R. (2007). Visual Localization Using an Optimal Sampling of Bags-Of- Features with Entropy. International Conference On Intelligent Robots and Systems (IROS). San Diego.
43. Romero, H., Salazar, S., Lozano, R., et Benosman, R. (2007). Fusion of Optical Flow and Inertial Sensors for Four Rotor Rotorcraft Stabilization. 6th Symposium IFAC on Intelligent Autonomous Vehicles (IAV 2007), France.
44. Hugo Romero, Sergio Salazar, Rogelio Lozano and Ryad Benosman, ”Real-time visual servoing control of a four-rotor rotorcraft”, 45th IEEE Conference on Decision and Control, Juillet 2006.
45. H. Romero, R. Benosman, R. Lozano, Stabilization and location of a four rotors helicopter applying vision, 2006 American Control Conference (ACC,A ̈ˆo06), Minneapolis, Minnesota USA. June 14-16, 2006.
46. Bailly, K., Benosman, R., Clady, X., et Milgram, M. (2006). Visual perception for hands and gaze tracking in 3-9 months old childs. Clinical Applications of the Research Program PILE(International Research Program for Children’s Speech). Dans World Association for Infant Mental Health World Congress, Paris, France.
47. J.Douret and R.Benosman, A volumetric multi-camera stereo method for vehicules and obstacles detection , In IEEE Intelligent Vehicule, 2004, Italie.
48. J.Douret and R.Benosman, A multi-camera 3D volumetric method fo outdoor scenes : a road monitoring application , In ICPR 2004, Oxford, Angleterre.
49. S.H.Ieng and R.Benosman, Geometric Construction of the Caustic Curves for Catadioptric Sensors, Int conf Image Processing ICIP, Singapoure, octobre 24-27, 2004.
50. L.Smadja and R.Benosman and J.Devars, Cylindrical sensor calibration using lines, IEEE int Conf Image Processing ICIP, Singapoure, octobre 24-27, 2004.
51. L. Smadja, R. Benosman, J. Devars, ”Cylindrical Sensor Calibration Using Lines”, IEEE International Conference of Computer Vision 04, Proc. Omnivis,A ̈ˆo04, Prague, Mai 04
52. S.H.Ieng and R.Benosman, An E cient Dynamic Multi-Angular Feature Points Matcher for Catadiop- tric Views, Omnivis’03 Omnidirectional Vision and Camera Networks , held in conjunction with IEEE Computer Vision and Pattern Recognition (CVPR 2003) in Madison Wisconsin on June 21, 2003
53. S. Gourichon and J.A. Meyer and S.H. Ieng and L.Smadja and R. Benosman, Estimating ego-motion using a panoramic sensor : comparison between a bio-inspired and a camera-calibrated method. Int. Convention on Cognition in Machines and Animals (AISB’2003), Aberytwyth, England, 7-11 April 2003.
54. L .Smadja and R. Benosman and J. Devars, Line Detection in Panoramic Images, OGRW,A ̈ˆo06, 25 – 30 August 2003, Katun Village, Altai Republick, Russia
55. J.Douret and R.Benosman and S.Bouzar and J.Devars, Localization of robots in F180 league using pro- jective geometry , In RoboCup 2002 Book IV, LNCS, pp 312-318, Springer Verlag, 2002, NY, USA.
56. R, Benosman and F, Bras et al, ROBOSIX UPMC-CFA : RoboCup Team Description, RoboCup Book V, LNCS, Springer Verlag, 2002, NY, USA.
57. F.Bras and R.Benosman et al ,RoboCup 2001 (F180) Team Description : RoboSix UPMC-CFA France, RoboCup Book V, 2002, LNCS, Springer Verlag, NY, USA
58. R. Benosman, History of omnidirectional vision, IEEE 10th International Conference on Advanced Ro- botics, Budapest on August 22-25, 2001, ”Omnidirectional Vision Applied to Robotic Orientation and Nondestructive Testing (NDT)”
59. J. Fabrizio and J.P. Tarel and R. Benosman (2001) , Calibration of Panoramic Catadioptric Sensors Made Easier, in IEEE Workshop on Omnidirectional Vision (Omnivis’03), in conjunction with ECCV03, pp23-30, Copenhague, Danemark.
60. L.Smadja and R.Benosman and J.Devars, Determining the epipolar constraint on cylindrical images and using it for 3D reconstruction, IEEE 2nd Workshop on Omnidirectional Vision, Budapest, Hungary, August 22-25,2001, pp93-99, ICAR01.
61. Francis Bras and Ryad Benosman and Andre ́et al, RoboCup 2001 (F180) Team Description : RoboSix UPMC-CFA (France). RoboCup 2001, Book IV, LNCS, Springer Verlag, pp 583-586, 2001.
62. Ryad Benosman et al ROBOSIX UPMC-CFA : RoboCup Team Description., RoboCup 2001, Book IV, LCNs, Springer Verlag, pp 665-668, 2001.
63. R.Benosman and J.Douret and J.Devars, A simple fast and accurate camera calibration for the f180 league, The RoboCup 2001 International Symposium, Book IV, LNCS, Springer Verlag, 2001, NY, USA.
64. Benosman, R and Deforas,R and Devars,J, A new catadioptric sensor for the panoramic vision of mobile robots . IEEE Workshop on Omnidirectional Vision, Hyatt Regency, Hilton Head Island, USA, 12 juin 2000.
65. Jerome Douret and Thierry Dorval and Ryad Benosman and Francis Bras and Gael Surtet and Thomas Petit and Nadege Quedec and Denis Philip and Gilles Cordurie ́and Mario Rebello and Didier Abraham and Nicolas Couder and Marco Marcon, RoboCup 2000 (F180) Team Description : UPMC-CFA Team (France). RoboCup 2000, Book III, LNCS, Springer Verlag, pp 531-534, 2000.
66. Benosman, R and Devars,J, Panoramic Stereovision Sensor . IEEE International Conference on Pattern Recognition, Aout 20-25, 1998, Brisbane, Australie.
67. Benosman, R and Maniere.T and Devars,J, Panoramic Sensor Calibration Using Computational Projec- tive Geometry. IEEE International Conference on Robotics and Automation (ICRA), Avril 20-25, 1997, Albuquerque, New-Mexico,USA.
68. Maniere,T and Benosman, R and Gastaud,C and Devars,J Binocular Peripheral Vision System.IST/SPIE’s 9th Annual Symposium, San Jose, USA, Fevrier 9-14, 1997, Vol. 3029 pp 50-56.
69. Benosman, R and Maniere.T and Devars,J, Real Time Omni-Directionnal Stereovision and Planes De- tection. IEEE Melecon’96, , Bari, Italie, Mai 13-16, 1996, pp 1151-1155, vol. 2.
70. Benosman, R and Maniere.T and Devars,J, Multi-Directionnal Stereovision Sensor, Calibration and Scenes Reconstruction.13th International Conference on Pattern Recognition, Vienne, Austria, August 25-30, 1996, pp 161-165 track A.