3.7 A 1920×1080 30fps 2.3TOPS/W stereo-depth processor for robust autonomous navigation

作者：Ziyun Li, Qing Dong, Mehdi Saligane, Benjamin Kempke, Shijia Yang, Zhengya Zhang, Ronald Dreslinski, Dennis Sylvester, David Blaauw, Hun-Seok Kim · 年份：2017 · DOI：10.1109/isscc.2017.7870261 · 被引用次数：11 · 研究领域：Advanced Vision and Imaging、CCD and CMOS Imaging Sensors、Advanced Image Processing Techniques

This paper presents a stereo vision processor that fully implements the SGM algorithm on a single chip. The design uses a new image-scanning stride to enable a deeply pipelined implementation with ultra-wide (1612b) custom SRAM for 1.64Tb/s on-chip access bandwidth. Our design is the first ASIC to report performance under the industrial standard KITTI benchmark that renders realistic automobile scenes. The proposed design supports 512-level depth resolution on full HD (1920×1080) resolution with real-time 30fps, consuming 836mW from a 0.75V supply in 40nm CMOS. We also integrate the stereo chip with a quadcopter and demonstrate its operation in real-time flight.