RoboVisio A Micro-Robot Vision Domain-Specific SoC for Autonomous Navigation Ena

Abstract

This article presents RoboVisio, an efficient and highly flexible domain-specific system-on-chip (SoC) for vision tasks in fully autonomous micro-robot navigation. A novel hybrid processing element (PE) is proposed, in which classic vision tasks achieve high efficiency by using a 2-D-mapping architecture, while convolutional neural network (CNN) is executed in an efficient output-channel-parallel systolic manner. Combining both process- ing schemes into a single PE array future-proofs the archit