Optical Flow Estimation using SPECK™ Neuromorphic Hardware

Master Thesis (2025)
Author(s)

M. Singh (TU Delft - Mechanical Engineering)

Contributor(s)

G. C. H. E. de Croon – Mentor (TU Delft - Control & Simulation)

D. Ou – Mentor (TU Delft - Control & Simulation)

Jens Kober – Graduation committee member (TU Delft - Learning & Autonomous Control)

C de Wagter – Graduation committee member (TU Delft - Control & Simulation)

Faculty
Mechanical Engineering
More Info
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Publication Year
2025
Language
English
Graduation Date
29-08-2025
Awarding Institution
Delft University of Technology
Programme
['Mechanical Engineering | Vehicle Engineering | Cognitive Robotics']
Faculty
Mechanical Engineering
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Abstract

Neuromorphic hardware and spiking neural networks (SNNs) offer a bio-inspired path to low-latency, energy-efficient computation by emulating the brain’s asynchronous spike-based processing, particularly attractive for real-time optical flow estimation on resource-constrained micro aerial vehicles (MAVs). We leverage a SynSense SPECK™ system-on-chip, which integrates a Dynamic Vision Sensor (DVS) with a neuromorphic processor, to realize live, onboard flow-based attitude and thrust control from dense event-based optical flow. Our inference architecture combines spiking and analog layers in a hybrid SNN-ANN framework, enabling the use of SPECK™ for regression task in a closed-loop drone control, an application not previously demonstrated on the chip. Despite the chip’s compact form factor, the system produces dense flow in real time and achieves stable indoor hover using flow-based control. The hybrid pipeline runs ~2× faster than an ANN-only baseline at identical power. These results highlight the promise of neuromorphic sensing and processing for ultra-efficient, autonomous flight in real-world scenarios.

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File under embargo until 30-09-2026