9 accepted papers
This paper presents a novel approach for joint point-feature detection and tracking, designed specifically for Pixel Processor Array (PPA) vision sensors. Instead of standard pixels, PPA sensors consist of thousands of "pixel-processors", enabling massive parallel computation of visual data at the p…
Pixel Processor Arrays (PPAs) are vision sensors that embed data and processing into every pixel element. PPAs can execute visual processing directly at the point of light capture, and output only sparse, high-level information. This is in sharp contrast with the conventional visual pipeline, where…
Conventional image sensors digitize high-resolution images at fast frame rates producing a large amount of data that needs to be transmitted off the sensor for further processing. This is challenging for perception systems operating on edge devices because communication is power inefficient and indu…
We present a novel method of CNN inference for pixel processor array (PPA) vision sensors, designed to take advantage of their massive parallelism and analog compute capabilities. PPA sensors consist of an array of processing elements (PEs), with each PE capable of light capture, data storage and co…
This paper presents a monocular vision based proximity estimation system using abstract features, such as corner points, blobs and edges, as inputs to a neural network. An experimental vehicle was built using a vision system integrating the SCAMP-5 vision chip, a micro-controller, and an RC model ca…
We present a convolutional neural network implementation for pixel processor array (PPA) sensors. PPA hardware consists of a fine-grained array of general-purpose processing elements, each capable of light capture, data storage, program execution, and communication with neighboring elements. This al…
This paper presents a visual odometry approach using a Pixel Processor Array (PPA) camera, specifically, the SCAMP-5 vision chip. In this device, each pixel is capable of storing data and performing computation, enabling a variety of computer vision tasks to be carried out directly upon the sensor i…
This paper presents a vision-based control strategy for tracking a ground target using a novel vision sensor featuring a processor for each pixel element. This enables computer vision tasks to be carried out directly on the focal plane in a highly efficient manner rather than using a separate genera…
We present an approach of estimating constrained motion of a novel Cellular Processor Array (CPA) camera, on which each pixel is capable of limited processing and data storage allowing for fast low power parallel computation to be carried out directly on the focal-plane of the device. Rather than th…