# NeuroLiDAR: Adaptive Frame Rate Depth Sensing via Neuromorphic Event-LiDAR Fusion

arXiv: https://arxiv.org/abs/2605.16805 · HTML: https://mlsanity.com/paper/2605.16805/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 12 of its 24 references that are in the map.
- First posted on arXiv 16 May 2026.

## Builds on (most cited first, 12 of 12)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception](https://mlsanity.com/paper/1801.10202/) (2018)
- [Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction](https://mlsanity.com/paper/2102.09320/) (2021)
- [Learning Monocular Dense Depth from Events](https://mlsanity.com/paper/2010.08350/) (2020)
- [Optical flow estimation from event-based cameras and spiking neural networks](https://mlsanity.com/paper/2302.06492/) (2023)
- [Learning Spatial-Temporal Implicit Neural Representations for Event-Guided Video Super-Resolution](https://mlsanity.com/paper/2303.13767/) (2023)
- [EVEN: An Event-Based Framework for Monocular Depth Estimation at Adverse Night Conditions](https://mlsanity.com/paper/2302.03860/) (2023)
- [EVI-SAM: Robust, Real-time, Tightly-coupled Event-Visual-Inertial State Estimation and 3D Dense Mapping](https://mlsanity.com/paper/2312.11911/) (2023)
- [METER: a mobile vision transformer architecture for monocular depth estimation](https://mlsanity.com/paper/2403.08368/) (2024)
- [Learning to Estimate Two Dense Depths from LiDAR and Event Data](https://mlsanity.com/paper/2302.14444/) (2023)

## Abstract (arXiv)

LiDARs are widely used for 3D depth reconstruction, but their performance is often limited by inherent hardware constraints that impose trade-offs between range, spatial resolution, and frame rate. Many LiDAR systems typically operate at low frame rates (e.g., 5-10 Hz), prioritizing long-range sensing over responsiveness to rapid scene changes. We present NeuroLiDAR, an adaptive depth sensing framework that achieves effective frame rates of up to ≈66 Hz by fusing temporally sparse LiDAR data with temporally dense inputs from neuromorphic event cameras. NeuroLiDAR integrates two components: event-based keyframe detection and event-guided depth extrapolation, to dynamically adjust the sensing rate in response to scene dynamics. To evaluate our approach, we introduce ELiDAR, a dataset spanning outdoor and indoor scenarios, and show that NeuroLiDAR reduces depth reconstruction error by ≈29% in RMSE while achieving adaptive frame rates between 27.8-47.3 Hz. Our code and dataset are available at https://github.com/darshanakgr/neurolidar.