{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,25]],"date-time":"2026-08-25T05:18:30Z","timestamp":1787635110471,"version":"build-2736575974"},"reference-count":44,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2026,8,21]],"date-time":"2026-08-21T00:00:00Z","timestamp":1787270400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["D20250188"],"award-info":[{"award-number":["D20250188"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"award":["D20250188"],"award-info":[{"award-number":["D20250188"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents the Post-Stimulus Time-Dependent Event Descriptor (P-TED), a novel \u201cpure event\u201d feature descriptor designed for neuromorphic vision data. Unlike conventional frame-based approaches or hybrid methods that transform event data into intermediate representations, P-TED operates directly on asynchronous event streams, thereby preserving the intrinsic low-latency and high-temporal-resolution advantages of event-based sensors. The descriptor integrates two complementary feature sets: a motion feature vector, which aggregates spatial relationships within a Moore neighbourhood to quantify stimulus direction, and a pattern feature vector, which employs rate encoding to capture temporal excitation signatures. The efficacy of the P-TED framework is validated through three distinct experiments: object and character recognition (MNIST-DVS and CIFAR10-DVS), mobile robot movement analysis, and complex non-rigid robotic hand gesture recognition (RoShamBo). Experimental results demonstrate that the P-TED achieves a significant reduction in classification latency, requiring only 2.7 ms compared to the 10.3 ms recorded by the state-of-the-art Distribution-Aware Retinal Transform (DART) framework. Additionally, P-TED exhibits superior robustness in disambiguating symmetric and mirrored motions, as well as in maintaining stability under non-linear fluctuations in event density caused by changing scale. This work establishes P-TED as a high-speed, computationally efficient, and explainable solution for real-time neuromorphic robotic vision systems.<\/jats:p>","DOI":"10.3390\/s26165311","type":"journal-article","created":{"date-parts":[[2026,8,21]],"date-time":"2026-08-21T14:20:36Z","timestamp":1787322036000},"page":"5311","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Neuro-Inspired Rate-Encoded Descriptor for High-Speed Asynchronous Robotic Vision"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1702-2818","authenticated-orcid":false,"given":"Shane","family":"Harrigan","sequence":"first","affiliation":[{"name":"Intelligent Systems Research Centre, Ulster University, Londonderry BT48 7JL, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4676-7640","authenticated-orcid":false,"given":"Sonya","family":"Coleman","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Centre, Ulster University, Londonderry BT48 7JL, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5077-0658","authenticated-orcid":false,"given":"Dermot","family":"Kerr","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Centre, Ulster University, Londonderry BT48 7JL, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4586-7228","authenticated-orcid":false,"given":"Pratheepan","family":"Yogarajah","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Centre, Ulster University, Londonderry BT48 7JL, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-5046-6663","authenticated-orcid":false,"given":"Chengdong","family":"Wu","sequence":"additional","affiliation":[{"name":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang 110819, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3887-3141","authenticated-orcid":false,"given":"Zheng","family":"Fang","sequence":"additional","affiliation":[{"name":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang 110819, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,8,21]]},"reference":[{"key":"ref_1","unstructured":"Mahowald, M. 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