Fusion-FlowNet: Energy-Efficient Optical Flow Estimation using Sensor Fusion and Deep Fused Spiking-Analog Network Architectures

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 these limitations by asynchronously detecting the variation in individual pixel intensities. However, event cameras only provide information about pixels in motion, leading to sparse data. Hence, estimating the overall dense behavior of pixels is difficult. To address such issues associated with the sensors, we present Fusion-FlowNet, a sensor fusion framework for energy-efficient optical flow estimation using both frame- and event-based sensors, leveraging their complementary characteristics. Our proposed network architecture is also a fusion of Spiking Neural Networks (SNNs) and Analog Neural Networks (ANNs) where each network is designed to simultaneously process asynchronous event streams and regular frame-based images, respectively. Our network is end-to-end trained using unsupervised learning to avoid expensive video annotations. The method generalizes well across distinct environments (rapid motion and challenging lighting conditions) and demonstrates state-of-the-art optical flow prediction on the Multi-Vehicle Stereo Event Camera (MVSEC) dataset. Furthermore, our network offers substantial savings in terms of the number of network parameters and computational energy cost.