A 1920x1080 129fps 4.3pJ/pixel Stereo-Matching Processor for Pico Aerial Vehicles

Dong, Pingcheng1,2,3; Chen, Zhuoyu1; Li, Ke1; Chen, Lei1; Cheng, Kwang-Ting2,3; An, Fengwei1

10.1109/ESSCIRC59616.2023.10268790

2023

IEEE 49th European Solid-State Circuits Conference (ESSCIRC)

1930-8833

IEEE 49TH EUROPEAN SOLID STATE CIRCUITS CONFERENCE, ESSCIRC 2023

SEP 11-14, 2023

null,Lisbon,PORTUGAL

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This paper presents an energy-efficient stereo matching processor that fully leverages disparity and RGB images to achieve high-speed and low-power depth prediction in 28nm CMOS process. A data compression-based guided image filter is proposed to compensate for the accuracy degradation caused by insufficient aggregation paths with slightly extra hardware resources. Two SRAM architectures tailored for the aggregation and multi-linebuffer in stereo matching achieve a compact chip area of only 1.26mm(2), which enables 30-129fps dense depth throughput on full HD resolution (1920x1080) with only 57-147mW power dissipation. Besides, its normalized energy dissipation outperforms the state-of-the-art in 28nm CMOS by 9.6x even with a larger on-chip SRAM footprint.

Stereo vision semi-global matching guided image filtering pico aerial vehicles

First ; Corresponding

English

CPCI-S

Engineering ; Physics

Engineering, Electrical & Electronic ; Physics, Applied

WOS:001088613100087

Web of Science

1.Southern Univ Sci & Technol, Shenzhen, Peoples R China
2.Hong Kong Univ Sci & Technol, Hong Kong, Peoples R China
3.AI Chip Ctr Emerging Smart Syst ACCESS, Hong Kong, Peoples R China

Dong, Pingcheng,Chen, Zhuoyu,Li, Ke,et al. A 1920x1080 129fps 4.3pJ/pixel Stereo-Matching Processor for Pico Aerial Vehicles[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023.