A 128x128 120 dB 15 μs latency asynchronous temporal contrast vision sensor
A 128x128 120 dB 15 μs latency asynchronous temporal contrast vision sensor
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DOI：
10.1109/jssc.2007.914337
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发表时间：
2008-02-01
影响因子：
5.4
通讯作者：
Delbruck, Tobi
中科院分区：
文献类型：
--
作者：
Lichtsteiner, Patrick;Posch, Christoph;Delbruck, Tobi
介绍了一种128 × 128像素CMOS视觉传感器。每个像素独立地并且连续地量化局部相对强度变化以生成尖峰事件。这些事件以数字像素地址的异步流的形式出现在传感器的输出端。这些地址事件表示场景反射率的变化，并且具有亚毫秒级的定时精度。输出数据速率取决于场景的动态内容，并且通常比传统的基于帧的成像器的输出数据速率低几个数量级。通过将主动连续时间前端对数感光器与自定时开关电容差分电路相结合，传感器在1 klux场景照明下实现了相对强度事件阈值2.1%的阵列失配和3 kHz的像素带宽。动态范围> 120 dB，芯片功耗为23 mW。事件潜伏期显示弱光依赖性，在> 1 klux像素照明下最小为15 mu s。该传感器采用0.35 μ m 4M2P工艺制造。它有40x40 μ m（2）像素与9.4%填充因子。通过提供高像素带宽、宽动态范围和精确定时的稀疏数字输出，这种硅视网膜在不受控制的照明下提供了低延迟动态视觉特性的吸引力组合，具有低后处理要求。
This paper describes a 128 x 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 mu s at > 1 klux pixel illumination. The sensor is built in a 0.35 mu m 4M2P process. It has 40x40 mu m(2) pixels with 9.4% fill factor. By providing high pixel bandwidth, wide dynamic range, and preciely 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.