SpikeNet: Sparse Spike-Driven Mask Vector Transformer for Energy-Efficient and Stable Spiking Point Cloud Processing

The unordered nature of point cloud data poses significant challenges to conventional architectures primarily designed for structured data. Spiking neural networks (SNN), by virtue of their inherent sparsity and dynamics, are particularly well-suited for processing point clouds to effectively extract meaningful features. We propose SpikeNet, a novel spiking neural network architecture for energy-efficient and robust point cloud analysis. We introduce spiking-driven sparse attention mechanism coined the Spiking Vector Mask Transformer (SVMT). By dynamically aligning the sparsity of point cloud data through binary spiking masks, SVMT eliminates the need for softmax and multiplication operations, significantly improving computational efficiency. We also propose a Dynamic Sparse Spiking Residual (DSSR) structure and integrate it with SVMT to form the Spiking Neural Network (SpikeNet) for point cloud classification and segmentation. SpikeNet overcomes the trade-off between accuracy and efficiency in previous SNN methods, achieving collaborative optimization of performance and energy-efficiency. Experiments on benchmark datasets show that SpikeNet achieves state-of-the-art performance in shape classification and segmentation tasks, comparable to artificial neural network (ANN) based methods. Our source code is in supplementary material and will be made publicly available.