Neuromorphic LiDAR-based Bird's Eye View Object Detection using Energy-efficient Spiking Neural Networks

摘要

Autonomous driving perception demands accurate and efficient processing of three-dimensional sensor data under strict power constraints. Traditional convolutional neural networks achieve strong detection accuracy but are computationally intensive, limiting their suitability for deployment on resource-constrained neuromorphic platforms. Spiking neural networks offer a compelling alternative through event-driven sparse computation, yet their application to complex real-world perception tasks such as three-dimensional object detection remains limited. In this work, we propose an end-to-end spiking encoder-decoder network for object detection in bird's eye view representations of LiDAR point clouds, trained using surrogate gradient backpropagation. We train two variants: a membrane potential variant that reads continuous neuron state at the output stage for maximum accuracy, achieving $92.05$/$87.04$/$86.51$ AP at $\mathrm{IoU}\!=\!0.5$ (Easy/Moderate/Hard), and, a fully binary spiking variant that operates exclusively on spike trains at every layer for direct neuromorphic deployment. We evaluate four input spike encoding strategies and demonstrate that allowing the network to learn spike representations directly from data outperforms hand-crafted Poisson, latency, and z-axis encoding schemes on the KITTI benchmark, where sequential frames are unavailable and the BEV input is presented repeatedly across timesteps as a proxy for temporal streaming. A block-wise energy analysis demonstrates a $3.33\times$ reduction in synaptic operation energy over an equivalent CNN under conservative loop-based operation. Together, these results demonstrate the viability of spiking neural networks for accurate and energy-efficient neuromorphic perception in autonomous driving.