Temporal Pulses Driven Spiking Neural Network for Fast Object Recognition in Autonomous Driving

Abstract: Accurate real-time object recognition from sensory data has long been a crucial and challenging task for autonomous driving. Even though deep neural networks (DNNs) have been successfully applied in this area, most existing methods still heavily rely on the pre-processing of the pulse signals derived from LiDAR sensors, and therefore introduce additional computational overhead and considerable latency. In this paper, we propose an approach to address the object recognition problem directly with raw temporal pulses utilizing the spiking neural network (SNN). Being evaluated on various datasets (including Sim LiDAR, KITTI and DVS-barrel) derived from LiDAR and dynamic vision sensor (DVS), our proposed method has shown comparable performance as the state-of-the-art methods, while achieving remarkable time efficiency. It highlights the SNN's great potentials in autonomous driving and related applications. To the best of our knowledge, this is the first attempt to use SNN to directly perform object recognition on raw temporal pulses.