Publications

Journals

Colonnier, F.; Della Vedova, L; Orchard, G. "ESPEE: Event-based Sensor Pose Estimation Using an Extended Kalman Filter", Sensors, 2022

Davies, M.; Wild, A.; Orchard, G.; Sandarmirskaya, Y.; Fonseca Guerra, G.; Joshi, P.; Plank, P.; Risbud, S.R. "Advancing Neuromorphic Computing With Loihi: A Survey of Results and Outlook", Proceedings of the IEEE, Early Access, 2020

Gallego, G.; Delbruck, T.; Orchard, G.; Bartolozzi, C.; Taba, B.; Censi, A.; Leutenegger, S.; Davison, A.; Conradt, J.; Daniilidis,  K.; and Scaramuzza, D. "Event-based Vision: A Survey", Pattern Analysis and Machine Intelligence, IEEE Transactions on, 2022

Stewart, K.; Orchard, G.; Shrestha, S.B.; Neftci, E. "Online Few-Shot Gesture Learning on a Neuromorphic Processor", IEEE Journal on Emerging and Selected Topics in Circuits and Systems, 2020

Ramesh, B.; Ussa, A.; Della Vedova, L.; Yang, H.; Orchard, G.; "Low-power dynamic object detection and classification with freely moving event cameras" Frontiers in Neuroscience, vol. 14, pp. 135, 2020

 Xiao, R.; Tang, H.; Ma, Y.; Yan, R.; Orchard, G.; "An Event-Driven Categorization Model for AER Image Sensors Using Multispike Encoding and Learning ", Neural Networks and Learning Systems, IEEE Transactions on (TNNLS), Early Access, 2019

Ramesh, B.; Yang, H.; Orchard, G.; Le Thi,  N.A; Zhang, S.; and Xiang, C.;  "DART: distribution aware retinal transform for event-based cameras", Pattern Analysis and Machine Intelligence, IEEE Transactions on, Early Access, May 2019

Yousefzadeh, A.; Orchard, G; Serrano-Gotarredona, T.; and Linares-Barranco, B.; "Active Perception with Dynamic Vision Sensors. Minimum Saccades with Optimum Recognition", Biomedical Circuits and Systems, IEEE Transactions on, vol. 12, no. 4, pp. 927-939, Aug 2018 

Haessig, G.; Cassidy, A.; Alvarez, R.; Benosman, R.; and Orchard, G.; “Spiking Optical Flow for Event-based Sensors Using IBM’s TrueNorth Neurosynaptic System,” IEEE Trans. Biomedical Circuits Syst., vol. 12, no. 4, pp. 860-871, Aug 2018

Cohen, G.; Afshar, S.; Orchard, G.; Tapson, J.; Benosman, R.; and Van Schaik, A.; "Spatial and Temporal Downsampling in Event-Based Visual Classification" Neural Networks and Learning Systems, IEEE Transactions on (TNNLS), vol 29, no. 10, pp. 5030-5044, Jan 2018

Padala, V.; Basu, A. and Orchard, G.; “Noise Filtering for Event-Based Asynchronous Change detection Image Sensors on TrueNorth,” Frontiers in Neuroscience vol. 12, pp. 118, Mar. 2018

Zhen, X.; Sheng, Y.C.; Orchard, G.; "Event-based Stereo Depth Estimation Using Belief Propagation" Frontiers in Neuroscience vol. 11, pp. 535, Oct. 2017 

Lagorce, X.; Orchard, G.; Gallupi, F.; Shi, B.; and Benosman, R.; "HOTS: A Hierarchy Of event-based Time-Surfaces for pattern recognition" Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 39 no. 7, pp. 1346-1359 July 2017

Cohen, G.K.; Orchard, G.; Ieng, S.H.; Tapson, J.; Benosman, R.B.; and van Schaik, A.; "Skimming Digits: Neuromorphic Classification of Spike-Encoded Images" Frontiers in Neuroscience vol. 10, pp. 184, Apr. 2016

Valeiras, D.; Orchard, G.; Ieng, S.H.; Benosman, R.; "Neuromorphic Event-Based 3D Pose Estimation", Frontiers in Neuroscience  vol. 9, pp. 522, Jan. 2016

Orchard, G.; Cohen, G.; Jayawant, A.; and Thakor, N.  “Converting Static Image Datasets to Spiking Neuromorphic Datasets Using Saccades", Frontiers in Neuroscience, vol. 9, pp. 437, Oct. 2015

Tan, C.; Lallee, S.; and Orchard, G.  "Benchmarking Neuromorphic Vision: Lessons Learnt from Computer Vision", Frontiers in Neuroscience, vol. 9, pp. 374, Oct. 2015

Orchard, G.; Meyer, C.; Etienne-Cummings, R.; Posch, C.; Thakor, N.; and Benosman, R., "HFIRST: A Temporal Approach to Object Recognition," Pattern Analysis and Machine Intelligence, IEEE Transactions on vol. 37, no. 10, pp. 2028-2040, Oct. 2015

Orchard, G.; and Etienne-Cummings, R. “Bioinspired Visual Motion Estimation” Proceedings of the IEEE, vol. 102, no. 10, pp. 1520–1536, Oct. 2014.

Orchard, G.; Martin, J.G.; Vogelstein, R.J.; and Etienne-Cummings, R., "Fast Neuromimetic Object Recognition Using FPGA Outperforms GPU Implementations," Neural Networks and Learning Systems, IEEE Transactions on, vol. 24, no. 8, pp. 1239-1252, Aug. 2013

Orchard, G.; Jie Zhang; Yuanming Suo; Minh Dao; Nguyen, D.T.; Sang Chin; Posch, C.; Tran, T.D.; and Etienne-Cummings, R., "Real Time Compressive Sensing Video Reconstruction in Hardware," Emerging and Selected Topics in Circuits and Systems, IEEE Journal on, vol. 2, no. 3, pp. 604-615, Oct. 2012

Russell, A.; Orchard, G.; Dong, Y.; Mihalas, S.; Niebur, E.; Tapson, J.; and Etienne-Cummings, R., "Optimization Methods for Spiking Neurons and Networks," Neural Networks, IEEE Transactions on, vol.21, no.12, pp.1950-1962, Dec. 2010

Orchard, G.; and Etienne-Cummings, R., "Discriminating Multiple Nearby Targets Using Single-Ping Ultrasonic Scene Mapping," Circuits and Systems I: Regular Papers, IEEE Transactions on, vol.57, no.11, pp.2915-2924, Nov. 2010

Conference Proceedings

Frady, E.P.; Orchard, G.; Florey, D.; Imam, N.; Liu, R.; Mishra, J.; Tse, J.; Wild, A.; Sommer, F.T.; and Davies, M. "Neuromorphic Nearest Neighbor Search Using Intel's Pohoiki Springs", Neuro-inspired Computational Elements Workshop 2020

Stewart, K.; Orchard, G.;  Shrestha, S.B.; and Neftci, E. “On-chip Few-shot Learning with Surrogate Gradient Descent on a Neuromorphic Processor”, IEEE Artificial Intelligence Circuits and Systems Conference, Genoa, Italy, March 2020.

Eshraghian, J.K.; Kang, S.M.; Baek, S.; Orchard, G.;  Lu, H.H.C.; and Lei, W.; “Analog Weights in ReRAM DNN Accelerators”, IEEE Artificial Intelligence Circuits and Systems Conference, Hsinchu, Taiwan, March 2019, (best paper).

Shrestha, S.B.; and Orchard, G.; "SLAYER: Spike Layer Error Reassignment in Time", Neural Information Processing Systems, Montreal, Canada, Dec 2018 PDF, video 

Ramesh, B.; Ussa Caycedo, A. C.; Della Vedova, L.; Yang, H.; and Orchard, G.; "PCA-RECT: An Energy-efficient Object Detection Approach for Event Cameras", Asian Conference on Computer Vision, Perth, Australia, Dec 2018

Colonnier, F.; Della Vedova, L.; Teo, R.S.H; and Orchard, G.; "Obstacle Avoidance using Eventbased Visual Sensor and Time-To-Contact Processing", Australasian Conference on Robotics and Automation, Lincoln, New Zealand, Dec 2018

Ramesh, B.; Zhang, S.; Lee, Z.W.; Gao, Z.; Orchard, G.; Xiang, C.; "Long-term Object Tracking with a Moving Event Camera", British Machine Vision Conference, Newcastle, England, Sept 2018

Yousefzadeh, A.; Orchard, G.; Stromatias, E.; Serrano-Gotarredona, T.; and Linares-Barranco, B.; "Hybrid-NN, An Efficient Low-Power Digital Hardware Implementation for Event-based Artificial Neural Networks" IEEE Int. Symp. Circuits Syst., Florence, Italy, May 2018

Tun Aung, M.; Teo, R.; and Orchard, G.; “Event-based Plane-fitting Optical Flow for Dynamic Vision Sensors in FPGA” IEEE Int. Symp. Circuits Syst., Florence, Italy, May 2018

Fischl, K. D.; Tognetti, G.;  Mendat, D. R.; Orchard, G.;  Rattray, J.; Sapsanis, C.; Campbell, L. F.; Elphage, L.; Niebur, T. E.; Pasciaroni, A.; Rennoll, V. E.; Romney, H.; Walker, S.; Pouliquen, P. O.; and Andreou, A. G.; "Neuromorphic self-driving robot with retinomorphic vision and spike-based processing/closed-loop control" IEEE Conference on Information Sciences and Systems Baltimore, MD, March 2017

Hoseini, S,; Orchard, G.; Yousefzadeh, A.; Deverakonda, B.; Serrano-Gotarredona, T.; and Linares-Barranco, B.; “Passive localization and detection of quadcopter UAVs using a Dynamic Vision Sensor” IEEE 5th Iranian joint congress on Fuzzy and Intelligent systems, Qazvin, Iran, March 2017

Czech, D.; and Orchard, G. "Evaluating Noise Filtering for Event-based Asynchronous Change Detection Image Sensors" 6th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, June 2016

Orchard, G.; Lagorce, X.; Posch, C.; Furber, S.; Benosman R.; and Galluppi, F.  “Real-time Event-driven Spiking Neural Network Object Recognition on the SpiNNaker Platform” IEEE International Symposium on Circuits and Systems, special session on Real-Time Event-Based Sensor Processing, Lisbon, Portugal, May 2015 

Delbruck, T.; Pfeiffer, M.; Juston, R.; Orchard, G.; Müggler, E.; Linares-Barranco, A.; and  Tilden, M.W. “Human Vs. Computer Slot Car Racing Using an Event and Frame-Based DAVIS Vision Sensor ” IEEE International Symposium on Circuits and Systems, special session on Real-Time Event-Based Sensor Processing, Lisbon, Portugal, May 2015 

Ghosh, R.; Mishra, A.; Orchard, G.; and Thakor, V. “Real-Time Object Recognition and Orientation Estimation Using an Event-Based Camera and CNN”, IEEE Biomedical Circuits and Systems, Lausanne, Switzerland, Nov 2014

Orchard, G.; Matolin, D.; Lagorce, X.; Benosman, R.; Posch, C.  “Accelerated Frame-Free Time-Encoded Multi-Step Imaging", IEEE International Symposium on Circuits and Systems, Melbourne, Australia, June 2014

Orchard, G.; Benosman, R.; Etienne-Cummings, R.; and Thakor, N. "A Spiking Neural Network Architecture for Visual Motion Estimation,” IEEE Biomedical Circuits and Systems, Rotterdam, Holland, Nov 2013.

Orchard, G.; Thakor, N.; and Etienne-Cummings, R. "Real-Time Motion Estimation Using Spatiotemporal Filtering in FPGA,” IEEE Biomedical Circuits and Systems, Rotterdam, Holland, Nov 2013.

Wang, Y.; Wu, T.; Orchard, G.; Dudek, P.; Rucci, M.; Shi, B."Hebbian Learning of Visually Directed Reaching by a Robot Arm" IEEE Biomedical Circuits and Systems, Beijing, China, November 2009.

Orchard, G.; Bartolozzi, C.; and Indiveri, G. "Applying Neuromorphic Vision Sensors to Planetary Landing Tasks" IEEE Biomedical Circuits and Systems, Beijing, China, November 2009.

Orchard, G.; Molin, J.; and Etienne-Cummings, R. "Simulation of a Single Ping Ultrasonic Bearing Estimation Design Using Spatiotemporal Filtering" IEEE Conference on Information Sciences and Systems, Baltimore, MD, USA, March 2009. 

Folowosele, F.; Tenore, F.; Russell, A.; Orchard, G.; Vismer, M.; Tapson, J.; and Etienne-Cummings, "Implementing a Neuromorphic Cross-Correlation Engine with Silicon Neurons," IEEE International Symposium on Circuits and Systems, Seattle, WA, USA, May 2008. 

Orchard, G.; Russell, A.; Mazurek, K.; Tenore, F.; and Etienne-Cummings, R. "Configuring Silicon Neural Networks Using Genetic Algorithms," IEEE International Symposium on Circuits and Systems, Seattle, WA, USA, May 2008

Russell, A.; Orchard, G.; and Etienne-Cummings, R. "Configuring Spiking Central Pattern Generator Networks for Bipedal Walking Using Genetic Algorithms," IEEE International Symposium on Circuits and Systems, New Orleans, LA, USA, May 2007

Andreou, A.G.; Dykman, A.A.; Fischl, K.D; Garreau, G.; Mendat, D.R.; Orchard, G.; Cassidy, A.S.; Merolla, P.; Arthur, J.; Alvarez-Icaza, R.; Jackson, B.L.; Modha, D.S. "Real-time sensory information processing using the TrueNorth Neurosynaptic System" IEEE International Symposium on Circuits and Systems, Montreal, Canada, May 2016.

Orchard, G.; Lagorce, X.; Posch, C.; Furber, S.; Benosman R.; and Galluppi, F.  “Real-time Event-driven Spiking Neural Network Object Recognition on the SpiNNaker Platform” IEEE International Symposium on Circuits and Systems, special session on Real-Time Event-Based Sensor Processing, Lisbon, Portugal, May 2015 

Matolin, D.; Orchard, G.; Floderer, J.-P.; Orchard, G.; Posch, C. “Event-driven High Speed Imaging”, IEEE Biomedical Circuits and Systems, Lausanne, Switzerland, Nov 2014.

Orchard, G.; Zhang, J.; Posch, C.; and Etienne-Cummings, R. “Real Time Compressed Sensing Scene Reconstruction Using Noise to Acquire Samples” IEEE Biomedical Circuits and Systems, San Diego, CA, USA, November 2011 (winner of best live demo award)

Orchard, G.; Farabet, C.; and Etienne-Cummings, R.; “Real-Time Moving Object Localization, Tracking and Classification” DARPA Neovision 2 review meeting, Malibu, CA, USA, Oct 2011

Orchard, G.; Russell, A.; Mazurek, K.; Tenore, F.; and Etienne-Cummings, R. "Configuring Silicon Neural Networks Using Genetic Algorithms," IEEE International Symposium on Circuits and Systems, Seattle, WA, USA, May 2008

Orchard, G. “Real-Time Bio-Inspired Sensory Processing” Doctoral Thesis, Johns Hopkins University, 2012.

Orchard, G. “Design and implementation of an If-Then Rules based control system for a biped robot” Undergraduate Thesis, The University of Cape Town, 2006.

Orchard, G.; Basu, A.; Thakor, N. “Building a Silicon Nervous System: Neuromorphic Engineering” Innovations Magazine, vol. 12, no. 1, 2013.

Russell, A.; Orchard, G.; Reiley, C. “DIY Blood Pressure Monitor-Make a tester that’s tough, smart, cheap and mobile.” Make-Technology on Your Time, 29, 70, 2012

Cohen, G.; Orchard, G. "Processing a Spiking Neuromorphic Vision Digit Recognition Dataset", Asia-Pacific Summer School on Bio-Inspired Systems and Prosthetic Devices, Hualien, Taiwan, Aug 2015

Orchard, G.; Thakor, N. "Towards Neurally Inspired Artificial Perception" IEEE Life Sciences Grand Challenges Conference, Singapore, Dec 2013