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Toward Wide-Angle Microvision sensors

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 2013年第12期35卷 2982-2996页

作者： Koppal, Sanjeev J. Gkioulekas, Ioannis Young, Travis Park, Hyunsung Crozier, Kenneth B. Barrows, Geoffrey L. Zickler, Todd Harvard Univ Cambridge MA 02138 USA Harvard Univ Sch Engn & Appl Sci Cambridge MA 02138 USA

Achieving computer vision on microscale devices is a challenge. On these platforms, the power and mass constraints are severe enough for even the most common computations (matrix manipulations, convolution, etc.) to be difficult. This paper proposes and analyzes a class of miniature vision sensors that can help overcome these constraints. These sensors reduce power requirements through template-based optical convolution, and they enable a wide field-of-view within a small form through a refractive optical design. We describe the tradeoffs between the field-of-view, volume, and mass of these sensors and we provide analytic tools to navigate the design space. We demonstrate milliscale prototypes for computer vision tasks such as locating edges, tracking targets, and detecting faces. Finally, we utilize photolithographic fabrication tools to further miniaturize the optical designs and demonstrate fiducial detection onboard a small autonomous air vehicle.

关键词： computational sensors micro/nano computer vision optical templates optical computing micro/nano robotics

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Reflective surfaces as computational sensors

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IMAGE AND VISION COMPUTING 2001年第11期19卷 773-777页

作者： Hicks, RA Bajcsy, R Univ Penn Dept Comp & Informat Sci Grasp Lab Philadelphia PA 19104 USA

We present a family of reflective surfaces that will provide a wide field of view while preserving the geometry of a plane perpendicular to their axis of symmetry. Used in conjunction with a conventional imaging device, these surfaces act as computational sensors capable of providing unwarped images automatically, eliminating the need for further processing. These surfaces arise as solutions to a differential equation that contains a function, which controls the planar distortion. We demonstrate how the differential equation can be altered to accommodate different models of imaging devices with which the surfaces may be coupled. Such sensors could be potentially useful in mobile robotics with applications such as control and range estimation. (C) 2001 Elsevier Science B.V. All rights reserved.

关键词： reflective surfaces computational sensors differential equation

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Fast row-parallel CMOS range image sensor

Fast row-parallel CMOS range image sensor

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IEEE International Conference on Robotics and Automation

作者： Brajovic, V Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)0780382323

The paper presents a novel row-parallel architecture for a fast, high-resolution CMOS range sensor utilizing dynamic triangulation. The sensor detects the location of the structured light (e.g., laser line) in each row based on temporal signatures from the sensory signal. The range map is detected at twice the resolution than the photodetector count and is sampled on a 30 x 30 mum grid in the image plane. Our current prototype can operate up to 2000 frames per second, and deliver sub millimeter precision from a stand off distance of about 70 cm.

关键词： 3D imaging sensors computational sensors

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Mismatch-induced trade-offs and scalability of analog preprocessing visual microprocessor chips

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ANALOG INTEGRATED CIRCUITS AND SIGNAL PROCESSING 2003年第2期37卷 73-83页

作者： Rodríguez-Vázquez, A Liñán, G Espejo, S Domínguez-Castro, R CSIC CNM Inst Microelect Sevilla Edificio CICA Seville 41012 Spain

This paper explores trade-offs associated with the scaling of the interaction circuits (synaptic transconductance multipliers) in visual microprocessor chips. These trade-offs are related to the necessity of maintaining analog accuracy of these circuits while taking advantage of the possibility of reducing power consumption, increasing operational speed, and reducing the area occupation, as technologies scale down into the deep submicron range. The paper does not aim to forecast the evolution of the design of general analog and mixed-signal integrated circuits in submicron technologies. It focuses on a very specific aspect of a particular type of systems. Hence, although the conclusions of the paper might appear somewhat pessimistic, deep submicron technologies define scenarios, not covered in this paper, where analog and mixed-signal circuits can take significant advantages from technology scaling. Even for the systems targeted in this paper, improvements in terms of power consumption and overall operational speed can be achieved through the use of newer architectures and circuit techniques.

关键词： vision chips computational sensors programmable array processors mixed-signal VLSI

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Architectural and basic circuit considerations for a flexible 128 x 128 mixed-signal SIMD vision chip

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ANALOG INTEGRATED CIRCUITS AND SIGNAL PROCESSING 2002年第2期33卷 179-190页

作者： Liñán, G Espejo, S Domínguez-Castro, R Rodríguez-Vázquez, A CSIC CNM Inst Microelect Sevilla Edificio CICA CNM Seville 41012 Spain

From a system level perspective, this paper presents a 128 x 128 flexible and reconfigurable Focal-Plane Analog Programmable Array Processor, which has been designed as a single chip in a 0.35 mum standard digital IP-5M CMOS technology. The core processing array has been designed to achieve high-speed of operation and large-enough accuracy (similar to7 bits) with low power consumption. The chip includes on-chip program memory to allow for the execution of complex, sequential and/or bifurcation flow image processing algorithms. It also includes the structures and circuits needed to guarantee its embedding into conventional digital hosting systems: external data interchange and control are completely digital. The chip contains close to four million transistors, 90% of them working in analog mode. The chip features up to 330 GOPs (Giga Operations per second), and uses the power supply (180 GOP/Joule) and the silicon area (3.8 GOPS/mm(2)) efficiently, and is able to maintain VGA processing throughputs of 100 Frames/s with about 10-20 basic image processing tasks on each frame.

关键词： vision chips computational sensors programmable array processors mixed-signal VLSI

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Sensory computing

Sensory computing

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Conference on Critical Technologies for the Future of Computing

作者： Brajovic, V Kanade, T Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)0819437549

Computation in artificial perceptual systems assumes that appropriate and reliable sensory information about the environment is available. However, today's sensors cannot guarantee optimal information at all times. For example, when an image from a CCD camera saturates, the entire vision system fails regardless of how "algorithmically" sophisticated it is. The principal goal of sensory computing is to extract useful information about the environment from "imperfect'' sensors. This paper attempts to generalize our experience with smart vision sensors and provide a direction and illustration for exploiting complex spatio-temporal interaction of image formation, signal detectors, and on-chip processing to extract a surprising amount of useful information from on-chip systems. The examples presented include: VLSI sensory computing systems for adaptive imaging, ultra fast feature tracking with attention, and ultra fast range imaging. Using these examples, we illustrate how sensory computing can extract unique, rich and otherwise not obtainable sensory information when an appropriate balance is maintained between sensing modality, algorithms and available technology.

关键词： sensors computing sensory computing computational sensors smart sensors image sensors

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A VLSI sorting image sensor: Global massively parallel intensity-to-time processing for low-latency adaptive vision

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1999年第1期15卷 67-75页

作者： Brajovic, V Kanade, T Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

This paper presents a new intensity-to-time processing paradigm suitable for very large scale integration (VLSI) computational sensor implementation of global operations over sensed images. Global image quantities usually describe images with fewer data. When computed at the point of sensing, global quantities result in a low-latency performance due to the reduced data transfer requirements between an image sensor and a processor. The global quantities also help global top-down adaptation: the quantities are continuously computed on-chip, and are readily available to sensing for adaptation. As an example, we have developed a sorting image computational sensor-a VLSI chip which senses an image and sorts all pixel by their intensities. The first sorting sensor prototype is a 21 x 26 array of cells. It receives an image optically, senses it, and computes the image's cumulative histogram-a global quantity which can be quickly routed off chip via one pin. In addition, the global cumulative histogram is used internally on-chip in a top-down fashion to adapt the values in individual pixel so as to reflect the index of the incoming light, thus computing an "image of indices." The image of indices never saturates and has a uniform histogram.

关键词： computational sensors image sensors robot perception smart sensors vision VLSI sensors

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Intelligent robot vision sensors in VLSI

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AUTONOMOUS ROBOTS 1999年第3期7卷 225-237页

作者： Etienne-Cummings, R Johns Hopkins Univ Dept Elect & Comp Engn Baltimore MD 21218 USA

Traditional approaches for solving real-world problems using computer vision have depended heavily on CCD cameras and workstations. As the computation power of workstations doubles every 1.5 years, they are now better able to handle the large amount of data presented by the cameras;yet real-time solutions for physical interaction with the real-world continues to be very hard, and relegated to large and expensive systems. Our approach attempts to solve this problem by using computational sensors and small/inexpensive embedded processors. The computational sensors are custom designed to reduce the amount of data collected, to extract only relevant information and to present this information to the simple processor, microcontrollers (mu Cs) or DSPs, in a format which reduces post-processing latency. Consequently, the post-processors are required to perform only high level computation on features rather than data. These systems are applied to problems such as target acquisition and tracking for image stabilization and autonomous data driven autonavigation for mobile robots. We present an example of a system that uses a pair of computational sensors and a mu C to solve a toy autonavigation problem. The computational sensors, however, have wide applications in many problems that require image preprocessing such as edge detection, motion detection, centroid localization and other spatiotemporal processing. This paper also presents a general-purpose computational sensor capable of extracting many visual information components at the focal plane.

关键词： computational sensors vision chips spatiotemporal image processing chip motion chip centroid chip robot vision focal-plane image processing

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computational sensor for visual tracking with attention

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IEEE JOURNAL OF SOLID-STATE CIRCUITS 1998年第8期33卷 1199-1207页

作者： Brajovic, V Kanade, T Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

This paper presents a VLSI embodiment of an optical tracking computational sensor which focuses attention on a salient target in its field of view. Using both low-latency massive parallel processing and top-down sensory adaptation, the sensor suppresses interference from features irrelevant for the task at hand, and tracks a target of interest at speeds of up to 7000 pixels/s, The sensor locks onto the target to continuously provide control for the execution of a perceptually guided activity. The sensor prototype, a 24 x 24 array of cells, is built in 2-mu m CMOS technology. Each cell occupies 62 mu m x 62 mu m of silicon, and contains a photodetector and processing electronics.

关键词： attention computational sensors low-latency vision smart sensors visual attention visual tracking

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Temporal photoreception for adaptive dynamic range image sensing and encoding

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NEURAL NETWORKS 1998年第7-8期11卷 1149-1158页

作者： Brajovic, VM Miyagawa, R Kanade, T Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

We have implemented two analog VLSI computational sensors for sensing and encoding high dynamic range images by exploiting temporal dimension of photoreception. The first sensor is a multi-integration time photoreceptor that automatically adapts to use different integration periods depending on light intensity. It exhibits a dynamic range 128 times larger than that of a single integration period photoreceptor, approximately 1:128 000. The second sensor is an intensity-to-time processing paradigm that is based on the notion that stronger stimuli elicit responses before weaker ones. The paradigm sorts pixels of sensed images by their intensities, thus achieving information-theoretic optimal encoding of images. It handles dynamic range of approximately 1:1 000 000. Both implementations can operate at standard video rate of 30 frames s(-1). (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： adaptive dynamic range imaging VLSI sensors image sensors computational sensors smart sensors robot perception vision

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