Vision processing for control of agile autonomous robots requires low-latency computation, within a limited power and space budget. This is challenging for conventional computing hardware. Parallel processor arrays (PPAs) are a new class of vision sensor devices that exploit advances in semiconductor technology, embedding a processor within each pixel of the image sensor array. Sensed pixel data are processed on the focal plane, and only a small amount of relevant information is transmitted out of the vision sensor. This tight integration of sensing, processing, and memory within a massively parallel computing architecture leads to an interesting trade-off between high performance, low latency, low power, low cost, and versatility in a machine vision system. Here, we review the history of image sensing and processing hardware from the perspective of in-pixel computing and outline the key features of a state-of-the-art smart camera system based on a PPA device, through the description of the SCAMP-5 system. We describe several robotic applications for agile ground and aerial vehicles, demonstrating PPA sensing functionalities including high-speed odometry, target tracking, obstacle detection, and avoidance. In the conclusions, we provide some insight and perspective on the future development of PPA devices, including their application and benefits within agile, robust, adaptable, and lightweight robotics.

中文翻译：

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用于敏捷机器人的带有像素处理器阵列的传感器级计算机视觉。

用于控制敏捷自主机器人的视觉处理需要在有限的功率和空间预算内进行低延迟计算。这对传统的计算硬件来说是一个挑战。并行处理器阵列 (PPA) 是一类新的视觉传感器设备，它利用了半导体技术的进步，在图像传感器阵列的每个像素中嵌入了一个处理器。感测到的像素数据在焦平面上进行处理，只有少量的相关信息从视觉传感器中传输出去。这种大规模并行计算架构中传感、处理和内存的紧密集成导致了机器视觉系统中高性能、低延迟、低功耗、低成本和多功能性之间的有趣权衡。这里，我们从像素计算的角度回顾了图像传感和处理硬件的历史，并通过对 SCAMP-5 系统的描述，概述了基于 PPA 设备的最先进的智能相机系统的关键特性. 我们描述了几种用于敏捷地面和飞行器的机器人应用，展示了 PPA 传感功能，包括高速里程计、目标跟踪、障碍物检测和避让。在结论中，我们对 PPA 设备的未来发展提供了一些见解和观点，包括它们在敏捷、稳健、适应性强和轻量级机器人中的应用和优势。我们描述了几种用于敏捷地面和飞行器的机器人应用，展示了 PPA 传感功能，包括高速里程计、目标跟踪、障碍物检测和避让。在结论中，我们对 PPA 设备的未来发展提供了一些见解和观点，包括它们在敏捷、稳健、适应性强和轻量级机器人中的应用和优势。我们描述了几种用于敏捷地面和飞行器的机器人应用，展示了 PPA 传感功能，包括高速里程计、目标跟踪、障碍物检测和避让。在结论中，我们对 PPA 设备的未来发展提供了一些见解和观点，包括它们在敏捷、稳健、适应性强和轻量级机器人中的应用和优势。