Applications of Spiking Neural Networks in Visual Place Recognition

In robotics, Spiking Neural Networks (SNNs) are increasingly recognized for their largely-unrealized potential energy efficiency and low latency particularly when implemented on neuromorphic hardware. Our paper highlights three advancements for SNNs in Visual Place Recognition (VPR). First, we propose Modular SNNs, where each SNN represents a set of non-overlapping geographically distinct places, enabling scalable networks for large environments. Secondly, we present Ensembles of Modular SNNs, where multiple networks represent the same place, significantly enhancing accuracy compared to single-network models. Our SNNs are compact and small, comprising only 1500 neurons and 474k synapses, which makes them ideally suited for ensembling due to this small size. Lastly, we investigate the role of sequence matching in SNN-based VPR, a technique where consecutive images are used to refine place recognition. We analyze the responsiveness of SNNs to ensembling and sequence matching compared to other VPR techniques. Our contributions highlight the viability of SNNs for VPR, offering scalable and robust solutions, paving the way for their application in various energy-sensitive robotic tasks.Comment: 17 pages, 8 figures, under revie

Editorial : Theoretical advances and practical applications of spiking neural networks

Neuromorphic engineering has experienced a significant growth in popularity over the last 10 years, going from being a niche academic research area, often confused with deep learning and mostly unknown to the wider industrial community, to being the main focus of many funding calls, significant industrial endeavours, and national and international initiatives. The advent to market of neuromorphic sensors, with a related widening understanding of the event-based sensing paradigm, combined with the development of the first neuromorphic processors, has steered the wider academic community and industry toward the investigation and use of Spiking Neural Networks (SNN). Very often overlooked in favour of the now extremely popular Deep Neural Networks (DNN), SNNs have become a serious alternative to DNNs, in application domains where size, weight and power are key limiting factors to the deployment of AI systems, such in Space applications, Security and Defence, Automotive, and more generally AI at the Edge. Nonetheless, there are many aspects of SNNs that still require significant investigation, as there are many unexplored avenues in this regard. To this aim, the articles accepted in this special topic present novel research works that focus on methodologies for training of SNNs and on the use of SNN in real life applications

Role of non-linear data processing on speech recognition task in the framework of reservoir computing

The reservoir computing neural network architecture is widely used to test hardware systems for neuromorphic computing. One of the preferred tasks for bench-marking such devices is automatic speech recognition. However, this task requires acoustic transformations from sound waveforms with varying amplitudes to frequency domain maps that can be seen as feature extraction techniques. Depending on the conversion method, these may obscure the contribution of the neuromorphic hardware to the overall speech recognition performance. Here, we quantify and separate the contributions of the acoustic transformations and the neuromorphic hardware to the speech recognition success rate. We show that the non-linearity in the acoustic transformation plays a critical role in feature extraction. We compute the gain in word success rate provided by a reservoir computing device compared to the acoustic transformation only, and show that it is an appropriate benchmark for comparing different hardware. Finally, we experimentally and numerically quantify the impact of the different acoustic transformations for neuromorphic hardware based on magnetic nano-oscillators.Comment: 13 pages, 5 figure

Event-Based Angular Velocity Regression with Spiking Networks

Spiking Neural Networks (SNNs) are bio-inspired networks that process information conveyed as temporal spikes rather than numeric values. A spiking neuron of an SNN only produces a spike whenever a significant number of spikes occur within a short period of time. Due to their spike-based computational model, SNNs can process output from event-based, asynchronous sensors without any pre-processing at extremely lower power unlike standard artificial neural networks. This is possible due to specialized neuromorphic hardware that implements the highly-parallelizable concept of SNNs in silicon. Yet, SNNs have not enjoyed the same rise of popularity as artificial neural networks. This not only stems from the fact that their input format is rather unconventional but also due to the challenges in training spiking networks. Despite their temporal nature and recent algorithmic advances, they have been mostly evaluated on classification problems. We propose, for the first time, a temporal regression problem of numerical values given events from an event camera. We specifically investigate the prediction of the 3-DOF angular velocity of a rotating event camera with an SNN. The difficulty of this problem arises from the prediction of angular velocities continuously in time directly from irregular, asynchronous event-based input. Directly utilising the output of event cameras without any pre-processing ensures that we inherit all the benefits that they provide over conventional cameras. That is high-temporal resolution, high-dynamic range and no motion blur. To assess the performance of SNNs on this task, we introduce a synthetic event camera dataset generated from real-world panoramic images and show that we can successfully train an SNN to perform angular velocity regression

Quantum-inspired feature and parameter optimization of evolving spiking neural networks with a case study from ecological modelling

The paper introduces a framework and implementation of an integrated connectionist system, where the features and the parameters of an evolving spiking neural network are optimised together using a quantum representation of the features and a quantum inspired evolutionary algorithm for optimisation. The proposed model is applied on ecological data modeling problem demonstrating a significantly better classification accuracy than traditional neural network approaches and a more appropriate feature subset selected from a larger initial number of features. Results are compared to a naive Bayesian classifier

GPU-based implementation of real-time system for spiking neural networks

Real-time simulations of biological neural networks (BNNs) provide a natural platform for applications in a variety of fields: data classification and pattern recognition, prediction and estimation, signal processing, control and robotics, prosthetics, neurological and neuroscientific modeling. BNNs possess inherently parallel architecture and operate in continuous signal domain. Spiking neural networks (SNNs) are type of BNNs with reduced signal dynamic range: communication between neurons occurs by means of time-stamped events (spikes). SNNs allow reduction of algorithmic complexity and communication data size at a price of little loss in accuracy. Simulation of SNNs using traditional sequential computer architectures results in significant time penalty. This penalty prohibits application of SNNs in real-time systems. Graphical processing units (GPUs) are cost effective devices specifically designed to exploit parallel shared memory-based floating point operations applied not only to computer graphics, but also to scientific computations. This makes them an attractive solution for SNN simulation compared to that of FPGA, ASIC and cluster message passing computing systems. Successful implementations of GPU-based SNN simulations have been already reported. The contribution of this thesis is the development of a scalable GPU-based realtime system that provides initial framework for design and application of SNNs in various domains. The system delivers an interface that establishes communication with neurons in the network as well as visualizes the outcome produced by the network. Accuracy of the simulation is emphasized due to its importance in the systems that exploit spike time dependent plasticity, classical conditioning and learning. As a result, a small network of 3840 Izhikevich neurons implemented as a hybrid system with Parker-Sochacki numerical integration method achieves real time operation on GTX260 device. An application case study of the system modeling receptor layer of retina is reviewed

Review of medical data analysis based on spiking neural networks

Medical data mainly includes various types of biomedical signals and medical images, which can be used by professional doctors to make judgments on patients' health conditions. However, the interpretation of medical data requires a lot of human cost and there may be misjudgments, so many scholars use neural networks and deep learning to classify and study medical data, which can improve the efficiency and accuracy of doctors and detect diseases early for early diagnosis, etc. Therefore, it has a wide range of application prospects. However, traditional neural networks have disadvantages such as high energy consumption and high latency (slow computation speed). This paper presents recent research on signal classification and disease diagnosis based on a third-generation neural network, the spiking neuron network, using medical data including EEG signals, ECG signals, EMG signals and MRI images. The advantages and disadvantages of pulsed neural networks compared with traditional networks are summarized and its development orientation in the future is prospected