1. A computer-implemented method of cancelling optical flow induced by a motion of a robotic apparatus using an artificial spiking neuron network, the method being performed by one or more processors configured to execute computer program modules, the method comprising: obtaining an optical flow, the optical flow characterizing displacement associated with a plurality of pixels of an image, the plurality of pixels representing at least one object; and based on information characterizing the motion, encoding the optical flow into one or more latencies of one or more pulses; wherein the encoding is configured to prevent generation of the one or more pulses based on the optical flow being based solely on the motion of the robotic apparatus and in an absence of motion of the at least one object.