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Spiking neural networks (SNN) are artificial computational models that have been inspired by the brain's ability to naturally encode and process information in the time domain. The added temporal dimension is believed to render them more…
Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…
Dynamic scenes that contain both object motion and egomotion are a challenge for monocular visual odometry (VO). Another issue with monocular VO is the scale ambiguity, i.e. these methods cannot estimate scene depth and camera motion in…
Biological neurons use spikes to process and learn temporally dynamic inputs in an energy and computationally efficient way. However, applying the state-of-the-art gradient-based supervised algorithms to spiking neural networks (SNN) is a…
Spiking Neural Networks (SNNs) have gained significant attention in edge computing due to their low power consumption and computational efficiency. However, existing implementations either use conventional System on Chip (SoC) architectures…
Robotic vision introduces requirements for real-time processing of fast-varying, noisy information in a continuously changing environment. In a real-world environment, convenient assumptions, such as static camera systems and deep learning…
Recent advances in embodied intelligence have leveraged massive scaling of data and model parameters to master natural-language command following and multi-task control. In contrast, biological systems demonstrate an innate ability to…
In the field of robotics, event-based cameras are emerging as a promising low-power alternative to traditional frame-based cameras for capturing high-speed motion and high dynamic range scenes. This is due to their sparse and asynchronous…
Event-based sensors, distinguished by their high temporal resolution of 1 $\mathrm{\mu}\text{s}$ and a dynamic range of 120 $\text{dB}$, stand out as ideal tools for deployment in fast-paced settings like vehicles and drones. Traditional…
Event-based vision sensors achieve up to three orders of magnitude better speed vs. power consumption trade off in high-speed control of UAVs compared to conventional image sensors. Event-based cameras produce a sparse stream of events that…
Due to the fundamental limit to reducing power consumption of running deep learning models on von-Neumann architecture, research on neuromorphic computing systems based on low-power spiking neural networks using analog neurons is in the…
Neuromorphic computing is a new paradigm for design of both the computing hardware and algorithms inspired by biological neural networks. The event-based nature and the inherent parallelism make neuromorphic computing a promising paradigm…
Video action recognition (VAR) plays crucial roles in various domains such as surveillance, healthcare, and industrial automation, making it highly significant for the society. Consequently, it has long been a research spot in the computer…
The stereo-matching problem, i.e., matching corresponding features in two different views to reconstruct depth, is efficiently solved in biology. Yet, it remains the computational bottleneck for classical machine vision approaches. By…
Spiking neural networks (SNNs) have shown advantages in computation and energy efficiency over traditional artificial neural networks (ANNs) thanks to their event-driven representations. SNNs also replace weight multiplications in ANNs with…
Spiking Neural Networks (SNNs) are at the forefront of neuromorphic computing thanks to their potential energy-efficiency, low latencies, and capacity for continual learning. While these capabilities are well suited for robotics tasks, SNNs…
Computer-science-oriented artificial neural networks (ANNs) have achieved tremendous success in a variety of scenarios via powerful feature extraction and high-precision data operations. It is well known, however, that ANNs usually suffer…
Spiking Neural Networks (SNN) and the field of Neuromorphic Engineering has brought about a paradigm shift in how to approach Machine Learning (ML) and Computer Vision (CV) problem. This paradigm shift comes from the adaption of event-based…
Standard frame-based cameras that sample light intensity frames are heavily impacted by motion blur for high-speed motion and fail to perceive scene accurately when the dynamic range is high. Event-based cameras, on the other hand, overcome…
Spiking neural networks (SNNs) recently gained momentum due to their low-power multiplication-free computing and the closer resemblance of biological processes in the nervous system of humans. However, SNNs require very long spike trains…