Sensor device and reading method
A sensor device according to the present technology includes: a pixel array unit in which a plurality of pixel units each having one or a plurality of pixels and capable of generating a gradation signal indicating intensity of a light reception amount and an event signal indicating a change in the light reception amount is two-dimensionally arranged; and a row control unit that can sequentially execute in rows selection of a pixel from which the event signal is to be read and selection of a pixel from which the gradation signal is to be read at different timings.
1. A sensor device, comprising:
a pixel array unit in which a plurality of pixel units, each having one or a plurality of pixels and capable of generating a gradation signal indicating intensity of a light reception amount and an event signal indicating a change in the light reception amount, is two-dimensionally arranged; and
a row control unit that sequentially executes in rows selection of a pixel from which the event signal is to be read and selection of a pixel from which the gradation signal is to be read at different timings.
2. The sensor device according to claim 1 , wherein
a pixel unit of the plurality of pixel units includes one pixel, and
the generation of the gradation signal and the generation of the event signal are alternatively performed on a basis of a charge generated in a light receiving element included in the pixel.
3. The sensor device according to claim 1 ,
wherein the row control unit
performs row selection for reading the event signal and row selection for reading the gradation signal for all pixel rows.
4. The sensor device according to claim 1 ,
wherein the row control unit
performs row selection for reading the gradation signal on a basis of a determination result of presence or absence of occurrence of an event based on the event signal.
5. The sensor device according to claim 4 , wherein the row control unit
performs row selection for reading the event signal for all the plurality of pixel units, and
performs row selection for reading the gradation signal on a basis of a determination result of presence or absence of occurrence of an event based on the event signal read by the row selection.
6. The sensor device according to claim 4 , wherein the first read determination unit
performs noise removal processing, which is processing of removing an event estimated to have been erroneously detected due to noise, for the unit pixel region, and
determines whether or not the gradation signal is readable for the unit pixel region on a basis of the number of occurrences of the event after the noise removal processing.
7. The sensor device according to claim 1 , further comprising: a second read determination unit that
performs object recognition processing based on the event signal for a unit pixel region including the plurality of pixel units in a predetermined plurality of rows, and
determines whether or not the gradation signal is readable for the unit pixel region on a basis of presence or absence of recognition of an object by the object recognition processing.
8. The sensor device according to claim 1 , further comprising:
a gradation output unit that outputs the gradation signal read from the pixel unit,
wherein the gradation output unit
selectively outputs the gradation signal of the pixel unit in which it is determined that an event has occurred, among the gradation signals read in units of rows by row selection by the row control unit.
9. The sensor device according to claim 1 , further comprising:
a first read determination unit that counts the number of occurrences of an event on a basis of the event signal for a unit pixel region including the pixel unit in a predetermined row, and determines whether or not the gradation signal can be read for the unit pixel region on a basis of the counted number of occurrences of the event.
10. The sensor device according to claim 1 , further comprising: a first read determination unit that
counts a number of occurrences of an event on a basis of the event signal for a unit pixel region including a pixel unit of the plurality of pixel units in a predetermined row, and
determines whether or not the gradation signal is readable for the unit pixel region on a basis of the counted number of occurrences of the event.
11. The sensor device according to claim 1 , further comprising: a gradation output unit that outputs the gradation signal read from a pixel unit of the plurality of pixel units, wherein
the gradation output unit selectively outputs the gradation signal of the pixel unit in which it is determined that an event has occurred, among gradation signals read in units of rows by row selection by the row control unit.
12. The sensor device according to claim 1 , wherein a pixel unit of the plurality of pixel units generates, as the event signal, a first polarity event signal indicating a change on an increasing side of the light reception amount and a second polarity event signal indicating a change on a decreasing side of the light reception amount.
13. The sensor device according to claim 12 , wherein the row control unit changes charge accumulation time related to the generation of the gradation signal according to a polarity of the event signal.
14. The sensor device according to claim 1 , wherein the row control unit performs row selection for reading the event signal before starting charge accumulation related to the generation of the gradation signal.
15. The sensor device according to claim 1 , wherein
each of the plurality of pixel units outputs the generated event signal to the row control unit, and
the row control unit determines a row from which the gradation signal is to be read on a basis of the event signal input from each of the plurality of pixel units.
16. The sensor device according to claim 1 ,
wherein the row control unit
performs row selection for reading the event signal during an execution period of charge accumulation related to generation of the gradation signal.
17. The sensor device according to claim 1 , wherein the row control unit performs row selection for reading the event signal during an execution period of charge accumulation related to the generation of the gradation signal.
18. The sensor device according to claim 1 , wherein the row control unit starts charge accumulation related to the generation of the gradation signal simultaneously for all the plurality of pixel units.
19. The sensor device according to claim 1 , wherein a pixel unit of the plurality of pixel units includes a pixel that generates the event signal and a pixel that generates the gradation signal.
20. A reading method in a sensor device including a pixel array unit in which a plurality of pixel units each having one or a plurality of pixels and capable of generating a gradation signal indicating intensity of a light reception amount and an event signal indicating a change in the light reception amount is two-dimensionally arranged,
the reading method comprising:
sequentially executing in rows selection of a pixel from which the event signal is to be read and selection of a pixel from which the gradation signal is to be read at different timings.