Multi-object tracking (MOT) is crucial for applications such as autonomous driving and robotics, yet traditional image-based methods struggle in high-speed scenarios due to motion blur and temporal gaps caused by low frame rates. Spike cameras, with their ability to continuously record spatiotemporal signals, overcome these limitations. However, existing spike-based methods often rely on intermediate image reconstruction or discrete clustering, limiting real-time performance and temporal continuity. To address this, we propose SNNTracker, the first fully spiking neural network (SNN)-based MOT algorithm tailored for spike cameras. SNNTracker integrates a dynamic neural field (DNF)-based attention mechanism for target detection and a winner-take-all (WTA)-based tracking module with online spike-timing-dependent plasticity (STDP) for adaptive learning of object trajectories. By directly processing spike streams without reconstruction, SNNTracker reduces latency, computational overhead, and dependency on image quality, making it ideal for ultra-high-speed environments. It maintains robust, continuous tracking even under occlusions, severe lighting variations, or temporary object disappearance, by leveraging SNN-estimated motion predictions and long-term online clustering. We construct three types of spike-camera MOT datasets covering dense and sparse annotations across diverse real-world scenarios, including camera ego-motion, deformable and ultra-fast motion (up to 2600 RPM), occlusion, indoor/outdoor lighting changes, and low-visibility tracking. Extensive experiments demonstrate that SNNTracker consistently outperforms state-of-the-art MOT methods-both ANN- and SNN-based-achieving MOTA scores above 96% and up to 100% in many sequences. Our results highlight the advantages of spike-driven SNNs for low-latency, high-speed, and label-free multi-object tracking, advancing neuromorphic vision for real-time perception.

Spike cameras, as innovative neuromorphic devices, generate continuous spike streams to capture high-speed scenes with lower bandwidth and higher dynamic range than traditional RGB cameras. However, reconstructing high-quality images from the spike input under low-light conditions remains challenging. Conventional learning-based methods often rely on the synthetic dataset as the supervision for training. Still, these approaches falter when dealing with noisy spikes fired under the low-light environment, leading to further performance degradation in the real-world dataset. This phenomenon is primarily due to inadequate noise modelling and the domain gap between synthetic and real datasets, resulting in recovered images with unclear textures, excessive noise, and diminished brightness. To address these challenges, we introduce a novel spike-to-image reconstruction framework SpikeCLIP that goes beyond traditional training paradigms. Leveraging the CLIP model's powerful capability to align text and images, we incorporate the textual description of the captured scene and unpaired high-quality datasets as the supervision. Textual descriptions provide additional context that guides the network's feature reconstruction, while high-quality datasets help produce sharp latent images. Our experiments on real-world low-light datasets U-CALTECH and U-CIFAR demonstrate that SpikeCLIP significantly enhances texture details and the luminance balance of recovered images. Furthermore, the reconstructed images are well-aligned with the broader visual features needed for downstream tasks, ensuring more robust and versatile performance in challenging environments.

Spike camera, as an innovative type of neuromorphic camera that captures scenes with 0-1 bit stream at 40 kHz, is increasingly being employed for the novel view synthesis task building on techniques such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS). Previous spike-based approaches typically follow a three-stage pipeline: I. Spike-to-image reconstruction based on established algorithms. II. Camera poses estimation. III. Novel view synthesis. However, the cascading framework suffers from substantial cumulative errors, i.e., the quality of the initially re-constructed images will impact pose estimation, ultimately limiting the fidelity of the 3D reconstruction. To address this limitation, we propose a synergistic optimization framework USP-Gaussian, which unifies spike-to-image reconstruction, pose correction, and gaussian splatting into an end-to-end pipeline. Leveraging the multi-view consistency afforded by 3DGS and the motion capture capability of the spike camera, our framework enables iterative optimization between the spike-to-image reconstruction network and 3DGS. Experiments on synthetic datasets demonstrate that our method surpasses previous approaches by effectively eliminating cascading errors. Moreover, in real-world scenarios, our method achieves robust 3D reconstruction benefiting from the integration of pose optimization. Our code, data, and trained models are available at https://github.com/chenkang455/USP-Gaussian.

The de-occlusion problem, involving extracting clear background images by removing foreground occlusions, holds significant practical importance but poses considerable challenges. Most current research predominantly focuses on generating discrete images from calibrated camera arrays, but this approach often struggles with dense occlusions and fast motions due to limited perspectives and motion blur. To overcome these limitations, an effective solution requires the integration of multi-view visual information. The spike camera, as an innovative neuromorphic sensor, shows promise with its ultra-high temporal resolution and dynamic range. In this study, we propose a novel approach that utilizes a single spike camera for continuous multi-view imaging to address occlusion removal. By rapidly moving the spike camera, we capture a dense stream of spikes from occluded scenes. Our model, SpkOccNet, processes these spikes by integrating multi-view spatial-temporal information via long-short-window feature extractor (LSW) and employs a novel cross-view mutual attention-based module (CVA) for effective fusion and refinement. Additionally, to facilitate research in occlusion removal, we introduce the S-OCC dataset, which consists of real-world spike-based data. Experimental results demonstrate the efficiency and generalization capabilities of our model in effectively removing dense occlusions across diverse scenes. Public project page: https://github.com/Leozhangjiyuan/SpikeDeOcclusion.

The traditional frame-based cameras that rely on exposure windows for imaging experience motion blur in high-speed scenarios. Frame-based deblurring methods lack reliable motion cues to restore sharp images under extreme blur conditions. The spike camera is a novel neuromorphic visual sensor that outputs spike streams with ultra-high temporal resolution. It can supplement the temporal information lost in traditional cameras and guide motion deblurring. However, in real-world scenarios, aligning discrete RGB images and continuous spike streams along both temporal and spatial axes is challenging due to the complexity of calibrating their coordinates, device displacements in vibrations, and time deviations. Misalignment of pixels leads to severe degradation of deblurring. We introduce the first framework for spike-guided motion deblurring without knowing the spatiotemporal alignment between spikes and images. To address the problem, we first propose a novel three-stage network containing a basic deblurring net, a carefully designed bi-directional deformable aligning module, and a flow-based multi-scale fusion net. Experimental results demonstrate that our approach can effectively guide the image deblurring with unknown alignment, surpassing the performance of other methods. Public project page: https://github.com/Leozhangjiyuan/UaSDN.

Reconstructing a sequence of sharp images from the blurry input is crucial for enhancing our insights into the captured scene and poses a significant challenge due to the limited temporal features embedded in the image. Spike cameras, sampling at rates up to 40,000 Hz, have proven effective in capturing motion features and beneficial for solving this ill-posed problem. Nonetheless, existing methods fall into the supervised learning paradigm, which suffers from notable performance degradation when applied to real-world scenarios that diverge from the synthetic training data domain. To address these challenges, we propose the first self-supervised framework for the task of spike-guided motion deblurring. Our approach begins with the formulation of a spike-guided deblurring model that explores the theoretical relationships among spike streams, blurry images, and their corresponding sharp sequences. We subsequently develop a self-supervised cascaded framework to alleviate the issues of spike noise and spatial-resolution mismatching encountered in the deblurring model. With knowledge distillation and re-blurring loss, we further design a lightweight deblur network to generate high-quality sequences with brightness and texture consistency with the original input. Quantitative and qualitative experiments conducted on our real-world and synthetic datasets with spikes validate the superior generalization of the proposed framework. Our code, data and trained models are available at \url{https://github.com/chenkang455/S-SDM}.

Numerous studies have demonstrated that the cognitive processes of the human brain can be modeled using the Bayesian theorem for probabilistic inference of the external world. Spiking neural networks (SNNs), capable of performing Bayesian computation with greater physiological interpretability, offer a novel approach to distributed information processing in the cortex. However, applying these models to real-world scenarios to harness the advantages of brain-like computation remains a challenge. Recently, bio-inspired sensors with high dynamic range and ultra-high temporal resolution have been widely used in extreme vision scenarios. Event streams, generated by various types of motion, represent spatiotemporal data. Inferring motion targets from these streams without prior knowledge remains a difficult task. The Bayesian inference-based Expectation-Maximization (EM) framework has proven effective for motion segmentation in event streams, allowing for decoupling without prior information about the motion or its source. This work demonstrates that Bayesian computation based on spiking neural networks can decouple event streams of different motions. The Winner-Take-All (WTA) circuits in the constructed network implement an equivalent E-step, while STDP achieves an equivalent optimization in M-step. Through theoretical analysis and experiments, we show that STDP-based learning can maximize the contrast of warped events under mixed motion models. Experimental results show that the constructed spiking network can effectively segment the motion contained in event streams.

Traditional cameras produce desirable vision results but struggle with motion blur in high-speed scenes due to long exposure windows. Existing frame-based deblurring algorithms face challenges in extracting useful motion cues from severely blurred images. Recently, an emerging bio-inspired vision sensor known as the spike camera has achieved an extremely high frame rate while preserving rich spatial details, owing to its novel sampling mechanism. However, typical binary spike streams are relatively low-resolution, degraded image signals devoid of color information, making them unfriendly to human vision. In this paper, we propose a novel approach that integrates the two modalities from two branches, leveraging spike streams as auxiliary visual cues for guiding deblurring in high-speed motion scenes. We propose the first spike-based motion deblurring model with bidirectional information complementarity. We introduce a content-aware motion magnitude attention module that utilizes learnable mask to extract relevant information from blurry images effectively, and we incorporate a transposed cross-attention fusion module to efficiently combine features from both spike data and blurry RGB images. Furthermore, we build two extensive synthesized datasets for training and validation purposes, encompassing high-temporal-resolution spikes, blurry images, and corresponding sharp images. The experimental results demonstrate that our method effectively recovers clear RGB images from highly blurry scenes and outperforms state-of-the-art deblurring algorithms in multiple settings.

High-speed imaging can help us understand some phenomena that are too fast to be captured by our eyes. Although ultra-fast frame-based cameras (e.g., Phantom) can record millions of fps at reduced resolution, they are too expensive to be widely used. Recently, a retina-inspired vision sensor, spiking camera, has been developed to record external information at 40, 000 Hz. The spiking camera uses the asynchronous binary spike streams to represent visual information. Despite this, how to reconstruct dynamic scenes from asynchronous spikes remains challenging. In this paper, we introduce novel high-speed image reconstruction models based on the short-term plasticity (STP) mechanism of the brain, termed TFSTP and TFMDSTP. We first derive the relationship between states of STP and spike patterns. Then, in TFSTP, by setting up the STP model at each pixel, the scene radiance can be inferred by the states of the models. In TFMDSTP, we use the STP to distinguish the moving and stationary regions, and then use two sets of STP models to reconstruct them respectively. In addition, we present a strategy for correcting error spikes. Experimental results show that the STP-based reconstruction methods can effectively reduce noise with less computing time, and achieve the best performances on both real-world and simulated datasets.

Neuromorphic vision sensors, whose pixels output events/spikes asynchronously with a high temporal resolution according to the scene radiance change, are naturally appropriate for capturing high-speed motion in the scenes. However, how to utilize the events/spikes to smoothly track high-speed moving objects is still a challenging problem. Existing approaches either employ time-consuming iterative optimization, or require large amounts of labeled data to train the object detector. To this end, we propose a bio-inspired unsupervised learning framework, which takes advantage of the spatiotemporal information of events/spikes generated by neuromorphic vision sensors to capture the intrinsic motion patterns. Without off-line training, our models can filter the redundant signals with dynamic adaption module based on short-term plasticity, and extract the motion patterns with motion estimation module based on the spike-timing-dependent plasticity. Combined with the spatiotemporal and motion information of the filtered spike stream, the traditional DBSCAN clustering algorithm and Kalman filter can effectively track multiple targets in extreme scenes. We evaluate the proposed unsupervised framework for object detection and tracking tasks on synthetic data, publicly available event-based datasets, and spiking camera datasets. The experiment results show that the proposed model can robustly detect and smoothly track the moving targets on various challenging scenarios and outperforms state-of-the-art approaches.

Deep convolutional neural networks (CNNs) have demonstrated impressive performance on many visual tasks. Recently, they became useful models for the visual system in neuroscience. However, it is still not clear what is learned by CNNs in terms of neuronal circuits. When a deep CNN with many layers is used for the visual system, it is not easy to compare the structure components of CNNs with possible neuroscience underpinnings due to highly complex circuits from the retina to the higher visual cortex. Here, we address this issue by focusing on single retinal ganglion cells with biophysical models and recording data from animals. By training CNNs with white noise images to predict neuronal responses, we found that fine structures of the retinal receptive field can be revealed. Specifically, convolutional filters learned are resembling biological components of the retinal circuit. This suggests that a CNN learning from one single retinal cell reveals a minimal neural network carried out in this cell. Furthermore, when CNNs learned from different cells are transferred between cells, there is a diversity of transfer learning performance, which indicates that CNNs are cell specific. Moreover, when CNNs are transferred between different types of input images, here white noise versus natural images, transfer learning shows a good performance, which implies that CNNs indeed capture the full computational ability of a single retinal cell for different inputs. Taken together, these results suggest that CNNs could be used to reveal structure components of neuronal circuits, and provide a powerful model for neural system identification.

Fovea, located in the centre of the retina, is specialized for high-acuity vision. Mimicking the sampling mechanism of the fovea, a retina-inspired camera, named spiking camera, is developed to record the external information with a sampling rate of 40,000 Hz, and outputs asynchronous binary spike streams. Although the temporal resolution of visual information is improved, how to reconstruct the scenes is still a challenging problem. In this paper, we present a novel high-speed image reconstruction model through the short-term plasticity (STP) mechanism of the brain. We derive the relationship between postsynaptic potential regulated by STP and the firing frequency of each pixel. By setting up the STP model at each pixel of the spiking camera, we can infer the scene radiance with the temporal regularity of the spike stream. Moreover, we show that STP can be used to distinguish the static and motion areas and further enhance the reconstruction results. The experimental results show that our methods achieve state-of-the-art performance in both image quality and computing time.

Robust object recognition in spiking neural systems remains a challenging in neuromorphic computing area as it needs to solve both the effective encoding of sensory information and also its integration with downstream learning neurons. We target this problem by developing a spiking neural system consisting of sparse temporal encoding and temporal classifier. We propose a sparse temporal encoding algorithm which exploits both spatial and temporal information derived from an spike-timing-dependent plasticity-based HMAX feature extraction process. The temporal feature representation, thus, becomes more appropriate to be integrated with a temporal classifier based on spiking neurons rather than with nontemporal classifier. The algorithm has been validated on two benchmark data sets and the results show the temporal feature encoding and learning-based method achieves high recognition accuracy. The proposed model provides an efficient approach to perform feature representation and recognition in a consistent temporal learning framework, which is easily adapted to neuromorphic implementations.