AI system on chip (SOC) for robotics vision applications
An Artificial Intelligence (AI) multi-frame imaging System on Chip (SoC) incorporates in-pixel embedded analog image processing by performing analog image computation within a multi-frame image pixel. In embodiments, each in-pixel processing element includes a photodetector, photodetector control circuitry with at least three analog sub-frame storage elements, analog circuitry configured to process both neighbor-in-space and neighbor-in-time functions for analog data, and a set of north-east-west-south (NEWS) registers, each register interconnected between a unique pair of neighboring in-pixel processing elements to transfer analog data between the pair of neighboring in-pixel processing elements. In embodiments, the in-pixel embedded analog image processing device takes advantage of high parallelism because each pixel has its own processor, and takes advantage of locality of data because all data is located within a pixel or within a neighboring pixel.
1. A sub-frame imaging pixel comprising:
a photodetector;
photodetector control circuitry (PDC) comprising (i) at least three analog storage elements configured to store at least three sub-frames, wherein each of the at least three sub-frames includes analog data transferred from the photodetector, and (ii) a PDC instruction bus coupled to each of the at least three sub-frames and configured to control operations of the PDC on said analog data transferred from the photodetector; and
an analog pixel processor (APP) configured to process neighbor-in-space and neighbor-in-time functions on said analog data stored in the at least three sub-frames, the APP comprising:
at least two banks of analog registers configured to: (i) receive the analog data from the PDC, and (ii) perform (a) data transfer operations, and (b) one or more of math operations and logic operations on the analog data stored in the at least two banks of analog registers,
a compare-and-flag functional block for each of the at least two banks of analog registers, wherein write operations to a register amongst the at least two banks of analog registers are executed when a signal is active during a register write cycle,
north, east, west, and south (NEWS) registers configured to perform the data transfer operations between neighboring sub-frame imaging pixels to facilitate the neighbor-in-space functions on the analog data stored in the at least two banks of analog registers, and
an APP instruction bus that is separate and distinct from the PDC instruction bus and is configured to: (i) allow for concurrent processing of the analog data stored in two sub-frames of the at least three sub-frames, and (ii) execute each of the following: (a) the data transfer operations, (b) the math operations, (c) the logic operations, (d) the neighbor-in-space functions, and (e) the neighbor-in-time functions.
2. The sub-frame imaging pixel of claim 1 , further comprising:
an analog-to-digital converter (ADC) configured to convert the analog data maintained in one or more of the at least two banks of analog registers to one or more multi-bit digital data values; and
a D/A converter (DAC) configured to convert the one or more multi-bit digital data values to the analog data.
3. The sub-frame imaging pixel of claim 2 , further comprising: a digital storage (SRAM) operably coupled to the ADC and the DAC and configured to cause DAC-converted values to be enabled onto the APP instruction bus and to write ADC-converted values to the SRAM.
4. The sub-frame imaging pixel of claim 1 , wherein:
the at least three analog storage elements implement integration circuitry, and
the PDC further comprises a fourth analog storage element that implements event circuitry.
5. The sub-frame imaging pixel of claim 1 , wherein the at least two banks of analog registers comprise at least one of: (i) four banks of analog registers or (ii) eight banks of analog registers.
6. A semiconductor substrate for sub-frame imaging, including:
an array of sub-frame imaging pixels, wherein each of the sub-frame imaging pixels comprises:
a photodetector;
photodetector control circuitry (PDC) comprising (i) at least three analog storage elements configured to store at least three sub-frames, wherein each the at least three sub-frames includes analog data transferred from the photodetector, and (ii) a PDC instruction bus coupled to each of the at least three sub-frames and configured to control operations of the PDC on said analog data transferred from the photodetector;
an analog pixel processor (APP) configured to process neighbor-in-space and neighbor-in-time functions on said analog data stored in the at least three sub-frames, the APP comprising:
at least two banks of analog registers configured to: (i) receive the analog data from the PDC, and (ii) perform (a) data transfer operations, and (b) one or more of math operations and logic operations on the analog data stored in the at least two banks of analog registers,
a compare-and-flag functional block for each of the at least two banks of analog registers, wherein write operations to a register amongst the at least two banks of analog registers are executed when a signal is active during a register write cycle,
north, east, west, and south (NEWS) registers configured to perform the data transfer operations between neighboring sub-frame imaging pixels to facilitate the neighbor-in-space functions on the analog data stored in the at least two banks of analog registers, and
an APP instruction bus that is separate and distinct from the PDC instruction bus and is configured to: (i) allow for concurrent processing of the analog data stored in two sub-frames of the at least three sub-frames, and (ii) execute each of the following: (a) the data transfer operations, (b) the math operations, (c) the logic operations, (d) the neighbor-in-space functions, and (e) the neighbor-in-time functions;
a photodetector (PD) config memory configured to store information used for sequencing the PDC of each of the array of sub-frame imaging pixels; and
a PDC sequencer configured to step through the information stored in the PD config memory to sequence the PDC of each of the array of sub-frame imaging pixels.
7. The semiconductor substrate of claim 6 , further comprising top-side vias at terminals of the photodetector.
8. The semiconductor substrate of claim 7 , wherein the top-side vias comprise through-silicon vias (TSVs).
9. The semiconductor substrate of claim 6 , wherein a pitch of the sub-frame imaging pixels ranges from 1.5 μm to 40 μm.
10. The semiconductor substrate of claim 6 , wherein a number of sub-frame imaging pixels on a single device is as low as 1024 in a 32×32 grid pattern and as high as 268,435,456 in a 16,384×16,384 grid pattern.
11. A multi-frame imaging system on chip (SoC) comprising:
an array of sub-frame imaging pixels, wherein each of the sub-frame imaging pixels comprises:
a photodetector;
photodetector control circuitry (PDC) comprising (i) at least three analog storage elements configured to store at least three sub-frames, wherein each of the at least three sub-frames includes analog data transferred from the photodetector, and (ii) a PDC instruction bus coupled to each of the at least three sub-frames and configured to control operations of the PDC on said analog data transferred from the photodetector;
an analog pixel processor (APP) configured to process neighbor-in-space and neighbor-in-time functions on said analog data stored in the at least three sub-frames, the APP comprising:
at least two banks of analog registers configured to: (i) receive the analog data from the PDC, and (ii) perform (a) data transfer operations, and (b) one or more of math operations and logic operations on the analog data stored in the at least two banks of analog registers,
a compare-and-flag functional block for each of the at least two banks of analog registers, wherein write operations to a register amongst the at least two banks of analog registers are executed when a signal is active during a register write cycle,
north, east, west, and south (NEWS) registers configured to perform the data transfer operations between neighboring sub-frame imaging pixels to facilitate the neighbor-in-space functions on the analog data stored in the at least two banks of analog registers, and
an APP instruction bus that is separate and distinct from the PDC instruction bus and is configured to: (i) allow for concurrent processing of the analog data stored in two sub-frames of the at least three sub-frames, and (ii) execute each of the following: (a) the data transfer operations, (b) the math operations, (c) the logic operations, (d) the neighbor-in-space functions, and (e) the neighbor-in-time functions; and
a digital processor configured to perform additional processing operations using output from the array of sub-frame imaging pixels.
12. The SoC of claim 11 , wherein the digital processor comprises at least one of a CPU, a GPU, an APU, an FPGA, or an ASIC.
13. The SoC of claim 11 , wherein the digital processor comprises artificial intelligence (AI) software.