A CMOS Image Sensor-Based Stereo Matching Accelerator With Focal-Plane Sparse Rectification and Analog Census Transform
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- A CMOS Image Sensor-Based Stereo Matching Accelerator With Focal-Plane Sparse Rectification and Analog Census Transform
- Kim, Changhyeon; Bong, Kyeongryeol; Choi, Sungpill; Lee, Kyuho Jason; Yoo, Hoi-Jun
- Issue Date
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, v.63, no.12, pp.2180 - 2188
- A low-latency and low-power stereo matching accelerator is monolithically integrated with a CMOS image sensor (CIS) for mobile applications. To reduce the overall latency, focal-plane processing is adopted by using the proposed analog census transform circuit (ACTC), and the image readout is pipelined with the following stereo matching process. In addition, a novel focal-plane rectification pixel array (FRPA) merges the rectification with the image readout without any additional processing latency. For area-efficient pixel design, sparse rectification is proposed, and the image rectification is implemented with only two additional switches in each pixel. A stereo matching digital processor (SMDP) is integrated with the CIS for cost aggregation. We present the full design including the layout with a 65 nm CMOS process, and the FRPA, the ACTC, and the SMDP achieve 11.0 ms latency with complete stereo matching stages, which is suitable for a smooth user interface. As a result, the 2-chip stereo matching system dissipates 573.9 mu J/frame and achieves 17% energy reduction compared to a previous stereo matching SoC
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