Apparatus and method for low-power object-detection in images using image integration hardware
First Claim
1. A low-power vision sensor, comprising:
- an image sensor array capable of capturing an image, the image sensor array having a plurality of rows and a plurality of columns;
one or more line buffers for transferring image data from one or more rows of the plurality of rows of the image sensor array;
two-dimensional integration hardware capable of computing a two-dimensional integral image based on the image data transferred by the one or more line buffers, the two-dimensional integral image to be used in a computer vision computation; and
computer vision feature computation hardware configured to compute a computer vision feature based on two-dimensional blocks within the two-dimensional integral image computed by the two-dimensional integration hardware.
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Abstract
An apparatus includes a hardware sensor array including a plurality of pixels arranged along at least a first dimension and a second dimension of the array, each of the pixels capable of generating a sensor reading. A hardware scanning window array includes a plurality of storage elements arranged along at least a first dimension and a second dimension of the hardware scanning window array, each of the storage elements capable of storing a pixel value based on one or more sensor readings. Peripheral circuitry for systematically transfers pixel values, based on sensor readings, into the hardware scanning window array, to cause different windows of pixel values to be stored in the hardware scanning window array at different times. Control logic coupled to the hardware sensor array, the hardware scanning window array, and the peripheral circuitry, provides control signals to the peripheral circuitry to control the transfer of pixel values.
49 Citations
28 Claims
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1. A low-power vision sensor, comprising:
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an image sensor array capable of capturing an image, the image sensor array having a plurality of rows and a plurality of columns; one or more line buffers for transferring image data from one or more rows of the plurality of rows of the image sensor array; two-dimensional integration hardware capable of computing a two-dimensional integral image based on the image data transferred by the one or more line buffers, the two-dimensional integral image to be used in a computer vision computation; and computer vision feature computation hardware configured to compute a computer vision feature based on two-dimensional blocks within the two-dimensional integral image computed by the two-dimensional integration hardware. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for detecting an object in a low-power vision sensor, comprising:
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capturing, via an image sensor array, an image, the image sensor array having a plurality of rows and a plurality of columns; transferring, via one or more line buffers, image data from one or more rows of the plurality of rows of the image sensor array; computing, via two-dimensional integration hardware, a two-dimensional integral image based on the image data transferred by the one or more line buffers, the two-dimensional integral image to be used in a computer vision operation; and computing, via computer vision feature computation hardware, a computer vision feature based on values computed using two-dimensional blocks within the integral image computed by the two-dimensional integration hardware. - View Dependent Claims (10, 11, 12, 13, 27)
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14. An apparatus for detecting an object in a low-power vision sensor, comprising:
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hardware means for capturing, via an image sensor array, an image, the image sensor array having a plurality of rows and a plurality of columns; hardware means for transferring, via one or more line buffers, image data from one or more rows of the plurality of rows of the image sensor array; hardware means for computing, via two-dimensional integration hardware, a two-dimensional integral image based on the image data transferred by the one or more line buffers, the two-dimensional integral image to be used in a computer vision computation; and hardware means for computing, via computer vision feature computation hardware, a computer vision feature based on values computed using two-dimensional blocks within the two-dimensional integral image computed by the two-dimensional integration hardware. - View Dependent Claims (15, 16, 17, 18, 19, 28)
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20. One or more non-transitory computer-readable media storing computer-executable instructions detecting an object in a low-power vision sensor that, when executed, cause one or more computing devices to:
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capture, via an image sensor array, an image, the image sensor array having a plurality of rows and a plurality of columns; transfer, via one or more line buffers, image data from one or more rows of the plurality of rows of the image sensor array; compute, via two-dimensional integration hardware, a two-dimensional integral image based on the image data transferred by the one or more line buffers, the two-dimensional integral image to be used in a computer vision computation; and compute, via computer vision feature computation hardware, a computer vision feature based on values computed using two-dimensional blocks within the two-dimensional integral image computed by the two-dimensional integration hardware. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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Specification