Figure 2. Successful resolution of the stereo correspondence problem by the spiking neural network.

The recorded scene consists of two people that move in opposite directions at different depths. Here, the two depth maps were generated by binning the output spikes of the network into 30 ms bins at times t₁ and t₂ respectively. The corresponding 3D reconstructions (red and green dots) are overlayed with the ground-truth data obtained from a Kinect sensor (gray). The color encodes the polarity, which is obtained from the event-based sensor.