An apparatus for motion understanding, includes a memory storing instructions, and at least one processor configured to execute the instructions to obtain, from a dynamic vision sensor, a plurality of events corresponding to an object moving with respect to the dynamic vision sensor, and filter the obtained plurality of events, using a plurality of exponential filters integrating over different time periods, to obtain a plurality of representations of the object moving with respect to the dynamic vision sensor. The at least one processor is further configured to execute the instructions to filter the obtained plurality of representations, using a convolution neural network, to obtain a probability of the object impacting a location on the dynamic vision sensor.