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A 128 128 120 dB 15 s Latency Asynchronous Temporal Contrast Vision Sensor
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BibTeX
@MISC{Lichtsteiner_a128,
author = {Patrick Lichtsteiner and Christoph Posch and Tobi Delbruck and Senior Member},
title = {A 128 128 120 dB 15 s Latency Asynchronous Temporal Contrast Vision Sensor},
year = {}
}
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Abstract
Abstract—This paper describes a 128 128 pixel CMOS vision sensor. Each pixel independently and in continuous time quantizes local relative intensity changes to generate spike events. These events appear at the output of the sensor as an asynchronous stream of digital pixel addresses. These address-events signify scene reflectance change and have sub-millisecond timing precision. The output data rate depends on the dynamic content of the scene and is typically orders of magnitude lower than those of conventional frame-based imagers. By combining an active continuous-time front-end logarithmic photoreceptor with a self-timed switched-capacitor differencing circuit, the sensor achieves an array mismatch of 2.1 % in relative intensity event threshold and a pixel bandwidth of 3 kHz under 1 klux scene illumination. Dynamic range is 120 dB and chip power consumption is 23 mW. Event latency shows weak light dependency with a minimum of 15 sat 1 klux pixel illumination. The sensor is built in a 0.35 m 4M2P process. It has 40 40 m2 pixels with 9.4 % fill factor. By providing high pixel bandwidth, wide dynamic range, and precisely timed sparse digital output, this silicon retina provides an attractive combination of characteristics for low-latency dynamic vision under uncontrolled illumination with low post-processing requirements. Index Terms—Address-event representation (AER), asynchronous vision sensor, high-speed imaging, image sensors, machine vision, neural network hardware, neuromorphic circuit, robot vision systems, visual system, wide dynamic range imaging. I.
Keyphrases
klux scene illumination chip power consumption event latency image sensor relative intensity event threshold uncontrolled illumination index term address-event representation pixel cmos vision sensor conventional frame-based imagers continuous time attractive combination output data rate spike event low-latency dynamic vision local relative intensity change pixel bandwidth array mismatch dynamic content klux pixel illumination neural network hardware scene reflectance change timed sparse digital output asynchronous vision sensor visual system self-timed switched-capacitor differencing circuit dynamic range silicon retina wide dynamic range robot vision system low post-processing requirement asynchronous stream neuromorphic circuit fill factor weak light dependency m2 pixel machine vision high pixel bandwidth digital pixel address active continuous-time front-end logarithmic photoreceptor high-speed imaging sub-millisecond timing precision wide dynamic range imaging
