Medium level scene representation using a VLSI smart hexagonal sensor with multiresolution edge extraction capability and scale space integration processing

This paper presents a sensing approach where photo-transduction, multi-resolution feature extraction, scale-space integration and edge tracking are performed on a mixed (digital-analog) VLSI architecture in order to generate medium-level scene description. The proposed system is mainly targeted for robot vision applications where feature description is preferred to a set of raw or raster 2D images and edge maps. The Multiport Access photo-Receptor (MAR) is a CMOS sensor and represents the main sensory part of this integrated image acquisition system. VLSI also provides means to integrate analog computing, digital controller and DSP co-processor modules which define a powerful sensory chip set for focal plane image processing. A current version of the MAR sensor which implements 256×256 pixels includes 16 analog spatial filters which simultaneously compute multiresolution edge maps. This unique 2D hexagonal smart sensor approach which performs up to 8.5×10⁹ arithmetic Op/sec during the acquisition/filtering phase and 25×10⁹ Logical Op/sec for scale-space integration allows high resolution image capability. It represents a significant improvement for passive sensory units in a compact assembly for computer vision applications