{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T19:39:18Z","timestamp":1782848358867,"version":"3.54.5"},"reference-count":104,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"67","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2022,6,29]]},"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.1126\/scirobotics.abl7755","type":"journal-article","created":{"date-parts":[[2022,6,29]],"date-time":"2022-06-29T17:54:55Z","timestamp":1656525295000},"source":"Crossref","is-referenced-by-count":69,"title":["Sensor-level computer vision with pixel processor arrays for agile robots"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6511-6165","authenticated-orcid":true,"given":"Piotr","family":"Dudek","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Electronics, The University of Manchester, Manchester, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7767-452X","authenticated-orcid":true,"given":"Thomas","family":"Richardson","sequence":"additional","affiliation":[{"name":"Department of Aerospace Engineering, University of Bristol, Bristol, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Laurie","family":"Bose","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Bristol, Bristol, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stephen","family":"Carey","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Electronics, The University of Manchester, Manchester, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2183-5413","authenticated-orcid":true,"given":"Jianing","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Electronics, The University of Manchester, Manchester, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5123-9084","authenticated-orcid":true,"given":"Colin","family":"Greatwood","sequence":"additional","affiliation":[{"name":"Department of Aerospace Engineering, University of Bristol, Bristol, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9625-5806","authenticated-orcid":true,"given":"Yanan","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Bristol, Bristol, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8973-1931","authenticated-orcid":true,"given":"Walterio","family":"Mayol-Cuevas","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Bristol, Bristol, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"crossref","unstructured":"R. Eki S. Yamada H. Ozawa H. Kai K. Okuike H. Gowtham H. Nakanishi E. Almog Y. Livne G. Yuval E. Zyss T. Izawa 9.6 A 1\/2.3 inch 12.3 Mpixel with on-chip 4.97 TOPS\/W CNN processor back-illuminated stacked CMOS image sensor in 2021 IEEE International Solid-State Circuits Conference (ISSCC) vol. 64 (IEEE San Francisco CA USA 13 to 22 February 2021) pp. 154\u2013156.","DOI":"10.1109\/ISSCC42613.2021.9365965"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/JEDS.2014.2306412"},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TED.2021.3097983"},{"key":"e_1_3_1_5_2","doi-asserted-by":"crossref","unstructured":"G. Park A. Chih-Wei Hsuing K. Mabuchi J. Yao Z. Lin V. C. Venezia T. Yu Y.-S. Yang T. Dai L. A. Grant A 2.2 \u03bcm stacked back side illuminated voltage domain global shutter CMOS image sensor in 2019 IEEE International Electron Devices Meeting (IEDM) (IEEE San Francisco CA USA 7 to 11 December 2019) pp. 16\u20134.","DOI":"10.1109\/IEDM19573.2019.8993606"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2018.2863947"},{"key":"e_1_3_1_7_2","doi-asserted-by":"crossref","unstructured":"C. Liu L. Bainbridge A. Berkovich S. Chen W. Gao T.-H. Tsai K. Mori R. Ikeno M. Uno T. Isozaki Y.-L. Tsai I. Takayanagi J. Nakamura A 4.6 \u03bcm 512 \u00d7 512 Ultra-low power stacked digital pixel sensor with triple quantization and 127dB dynamic range in 2020 IEEE International Electron Devices Meeting (IEDM) (IEEE San Francisco CA USA 12 to 18 December 2020) pp. 16\u20131.","DOI":"10.1109\/IEDM13553.2020.9371913"},{"key":"e_1_3_1_8_2","doi-asserted-by":"crossref","unstructured":"P. Lichtsteiner C. Posch T. Delbruck A 128 x 128 120 db 30 mw asynchronous vision sensor that responds to relative intensity change in 2006 IEEE International Solid State Circuits Conference-Digest of Technical Papers (IEEE San Francisco CA USA 6 to 9 February 2006). pp. 2060\u20132069.","DOI":"10.1109\/ISSCC.2006.1696265"},{"key":"e_1_3_1_9_2","doi-asserted-by":"crossref","unstructured":"T. Finateu A. Niwa D. Matolin K. Tsuchimoto A. Mascheroni E. Reynaud P. Mostafalu F. Brady L. Chotard F. L. Goff H. Takahashi H. Wakabayashi Y. Oike C. Posch 5.10 A 1280 \u00d7 720 back-illuminated stacked temporal contrast event-based vision sensor with 4.86 \u03bcm pixels 1.066 GEPS readout programmable event-rate controller and compressive data-formatting pipeline in 2020 IEEE International Solid-State Circuits Conference-(ISSCC) (IEEE San Francisco CA USA 16 to 20 February 2020) pp. 112\u2013114.","DOI":"10.1109\/ISSCC19947.2020.9063149"},{"key":"e_1_3_1_10_2","doi-asserted-by":"crossref","unstructured":"J. Conradt M. Cook R. Berner P. Lichtsteiner R. J. Douglas T. Delbruck A pencil balancing robot using a pair of AER dynamic vision sensors in 2009 IEEE International Symposium on Circuits and Systems (IEEE Taipei Taiwan 24 to 27 May 2009) pp. 781\u2013784.","DOI":"10.1109\/ISCAS.2009.5117867"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2013.00223"},{"key":"e_1_3_1_12_2","doi-asserted-by":"crossref","unstructured":"E. Mueggler B. Huber D. Scaramuzza Event-based 6-DOF pose tracking for high-speed maneuvers in 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE Chicago IL USA 14 to 18 September 2014) pp. 2761\u20132768.","DOI":"10.1109\/IROS.2014.6942940"},{"key":"e_1_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793357"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21764"},{"key":"e_1_3_1_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/0893-6080(88)90024-X"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2009.12.009"},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/3\/4\/002"},{"key":"e_1_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2002.807412"},{"key":"e_1_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2015.2483898"},{"key":"e_1_3_1_20_2","doi-asserted-by":"crossref","unstructured":"B. Zhao X. Zhang S. Chen A CMOS image sensor with on-chip motion detection and object localization in 2011 IEEE Custom Integrated Circuits Conference (CICC) (IEEE San Jose CA USA 19 to 21 September 2011) pp. 1\u20134.","DOI":"10.1109\/CICC.2011.6055400"},{"key":"e_1_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2007.905295"},{"key":"e_1_3_1_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2002.1003469"},{"key":"e_1_3_1_23_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10470-005-0439-2"},{"key":"e_1_3_1_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2016.2610580"},{"key":"e_1_3_1_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2012.2235031"},{"key":"e_1_3_1_26_2","doi-asserted-by":"crossref","unstructured":"D. Garc\u00eda-Lesta P. L\u00f3pez V. M. Brea D. Cabello A CMOS vision sensor for background subtraction in 2020 IEEE International Symposium on Circuits and Systems (ISCAS) (IEEE Seville Spain 12 to 14 October 2020) pp. 1\u20135.","DOI":"10.1109\/ISCAS45731.2020.9180735"},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10470-009-9325-7"},{"key":"e_1_3_1_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSI.2012.2215803"},{"key":"e_1_3_1_29_2","doi-asserted-by":"crossref","unstructured":"M. Lefebvre L. Moreau R. Dekimpe D. Bol. A 0.2-to-3.6 TOPS\/W programmable convolutional imager SoC with in-sensor current-domain ternary-weighted MAC operations for feature extraction and region-of-interest detection in 2021 IEEE International Solid-State Circuits Conference (ISSCC) vol. 64 (IEEE San Francisco CA USA 13 to 22 February 2021 2021) pp. 118\u2013120.","DOI":"10.1109\/ISSCC42613.2021.9365839"},{"key":"e_1_3_1_30_2","doi-asserted-by":"crossref","unstructured":"X. Zhong Q. Yu A. Bermak C.-Y. Tsui M.-K. Law. A 2pJ\/pixel\/direction MIMO processing based CMOS image sensor for omnidirectional local binary pattern extraction and edge detection in 2018 IEEE Symposium on VLSI Circuits (IEEE Honolulu HI USA 18 to 22 June 2018) pp. 247\u2013248.","DOI":"10.1109\/VLSIC.2018.8502214"},{"key":"e_1_3_1_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2015.2444875"},{"key":"e_1_3_1_32_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSI.2011.2131370"},{"key":"e_1_3_1_33_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSI.2004.840093"},{"key":"e_1_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.1049\/el:20060352"},{"key":"e_1_3_1_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1968.229158"},{"key":"e_1_3_1_36_2","doi-asserted-by":"publisher","DOI":"10.1109\/34.3896"},{"key":"e_1_3_1_37_2","doi-asserted-by":"crossref","unstructured":"R. A. Heaton D. W. Blevins BLITZEN: A VLSI array processing chip in 1989 Proceedings of the IEEE Custom Integrated Circuits Conference (IEEE San Diego CA USA 15 to 18 May 1989) pp. 12\u20131.","DOI":"10.1109\/CICC.1989.56738"},{"key":"e_1_3_1_38_2","doi-asserted-by":"crossref","unstructured":"R. Espasa M. Valero J. E. Smith Vector architectures: Past present and future in Proceedings of the 12th international conference on Supercomputing 1998 pp. 425\u2013432.","DOI":"10.1145\/277830.277935"},{"key":"e_1_3_1_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/40.526924"},{"key":"e_1_3_1_40_2","doi-asserted-by":"publisher","DOI":"10.1109\/4.222178"},{"key":"e_1_3_1_41_2","doi-asserted-by":"crossref","unstructured":"F. Paillet D. S. Mercier T. M. Bernard Making the most of 15k-lambda-2 silicon area for a digital retina PE in Advanced Focal Plane Arrays and Electronic Cameras II International society for optics and photonics vol. 3410. 1998 pp. 158\u2013167.","DOI":"10.1117\/12.324004"},{"key":"e_1_3_1_42_2","doi-asserted-by":"crossref","unstructured":"M. Ishikawa K. Ogawa T. Komuro I. Ishii A CMOS vision chip with SIMD processing element array for 1 ms image processing in 1999 IEEE International Solid-State Circuits Conference. Digest of Technical Papers. ISSCC. First Edition (Cat. No. 99CH36278) (IEEE San Francisco CA USA 17 to 17 February 1999) pp. 206\u2013207.","DOI":"10.1109\/ISSCC.1999.759195"},{"key":"e_1_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/92.532033"},{"key":"e_1_3_1_44_2","doi-asserted-by":"crossref","unstructured":"A. Lopich P. Dudek A general-purpose vision processor with 160\u00d7 80 pixel-parallel SIMD processor array in Proceedings of the IEEE 2013 Custom Integrated Circuits Conference (IEEE San Jose CA USA 22 to 25 September 2013) pp. 1\u20134.","DOI":"10.1109\/CICC.2013.6658542"},{"key":"e_1_3_1_45_2","unstructured":"C. Mead M. Ismail eds. Analog VLSI implementation of neural systems . Vol. 80. Springer Science & Business Media 2012."},{"key":"e_1_3_1_46_2","doi-asserted-by":"publisher","DOI":"10.1109\/85.207740"},{"key":"e_1_3_1_47_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207218508939066"},{"key":"e_1_3_1_48_2","doi-asserted-by":"publisher","DOI":"10.1109\/82.842115"},{"key":"e_1_3_1_49_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10470-013-0192-x"},{"key":"e_1_3_1_50_2","unstructured":"S. J. Carey A. Lopich D. R. W. Barr B. Wang P. Dudek A 100 000 fps vision sensor with embedded 535 GOPS\/W 256 \u00d7 256 SIMD processor array in 2013 Symposium on VLSI Circuits (IEEE 2013). pp. C182\u2013C183."},{"key":"e_1_3_1_51_2","doi-asserted-by":"publisher","DOI":"10.1142\/S0129065703001765"},{"key":"e_1_3_1_52_2","doi-asserted-by":"crossref","unstructured":"J. Poikonen M. Laiho A. Paasio MIPA4k: A 64 \u00d7 64 cell mixed-mode image processor array in 2009 IEEE International Symposium on Circuits and Systems (IEEE Taipei Taiwan 24 to 27 May 2009) pp. 1927\u20131930.","DOI":"10.1109\/ISCAS.2009.5118161"},{"key":"e_1_3_1_53_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSI.2013.2295959"},{"key":"e_1_3_1_54_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2006.891454"},{"key":"e_1_3_1_55_2","doi-asserted-by":"publisher","DOI":"10.1002\/cta.211"},{"key":"e_1_3_1_56_2","doi-asserted-by":"crossref","unstructured":"T. Yamazaki H. Katayama S. Uehara A. Nose M. Kobayashi S. Shida M. Odahara K. Takamiya Y. Hisamatsu S. Matsumoto L. Miyashita Y. Watanabe T. Izawa Y. Muramatsu M. Ishikawa 4.9 A 1ms high-speed vision chip with 3D-stacked 140GOPS column-parallel PEs for spatio-temporal image processing in 2017 IEEE International Solid-State Circuits Conference (ISSCC) (IEEE San Francisco CA USA 5 to 9 February 2017) pp. 82\u201383.","DOI":"10.1109\/ISSCC.2017.7870271"},{"key":"e_1_3_1_57_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2005.848029"},{"key":"e_1_3_1_58_2","unstructured":"J. Doege C. Hoppe P. Reichel N. Peter A 1 megapixel HDR image sensor SoC with highly parallel mixed-signal processing in Int. Image Sensor Workshop (IISW \u201815) . 2015."},{"key":"e_1_3_1_59_2","doi-asserted-by":"publisher","DOI":"10.1109\/TED.2009.2030718"},{"key":"e_1_3_1_60_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2016.2613094"},{"key":"e_1_3_1_61_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2018.2886325"},{"key":"e_1_3_1_62_2","doi-asserted-by":"crossref","unstructured":"A. Verdant A. Dupret P. Villard L. Alacoque H. Mathias F. Delgehier A 120 \u03bcW 240 \u00d7 110 @ 25fps vision chip with ROI detection SIMD processing unit in 2013 IEEE International Symposium on Circuits and Systems (ISCAS) (IEEE Beijing China 19 to 23 May 2013) pp. 2412\u20132415.","DOI":"10.1109\/ISCAS.2013.6572365"},{"key":"e_1_3_1_63_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2011.2158024"},{"key":"e_1_3_1_64_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysarc.2013.03.002"},{"key":"e_1_3_1_65_2","doi-asserted-by":"crossref","unstructured":"P. Dudek A. Lopich V. Gruev A pixel-parallel cellular processor array in a stacked three-layer 3D silicon-on-insulator technology in 2009 European Conference on Circuit Theory and Design (IEEE Antalya Turkey 23 to 27 August 2009) pp. 193\u2013196.","DOI":"10.1109\/ECCTD.2009.5274946"},{"key":"e_1_3_1_66_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysarc.2013.03.016"},{"key":"e_1_3_1_67_2","doi-asserted-by":"crossref","unstructured":"J. N. P. Martel L. K. M\u00fcller S. J. Carey P. Dudek Parallel HDR tone mapping and auto-focus on a cellular processor array vision chip in 2016 IEEE International Symposium on Circuits and Systems (ISCAS) (IEEE Montreal QC Canada 22 to 25 May 2016) pp. 1430\u20131433.","DOI":"10.1109\/ISCAS.2016.7527519"},{"key":"e_1_3_1_68_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSI.2017.2753878"},{"key":"e_1_3_1_69_2","unstructured":"J. Chen S. J. Carey P. Dudek Feature extraction using a portable vision system in IEEE\/RSJ Int. Conf. Intell. Robots Syst. Workshop Vis.-based Agile Auton. Navigation UAVs . 2017."},{"key":"e_1_3_1_70_2","doi-asserted-by":"crossref","unstructured":"J. N. P. Martel Y. Sandamirskaya A neuromorphic approach for tracking using dynamic neural fields on a programmable vision-chip in Proceedings of the 10th International Conference on Distributed Smart Camera ICDSC 16 Paris France 12 to 15 September 2016 pp. 148\u2013154.","DOI":"10.1145\/2967413.2967444"},{"key":"e_1_3_1_71_2","doi-asserted-by":"publisher","DOI":"10.1002\/cta.512"},{"key":"e_1_3_1_72_2","doi-asserted-by":"crossref","unstructured":"L. Bose P. Dudek J. Chen S. J. Carey W. W. Mayol-Cuevas Fully embedding fast convolutional networks on pixel processor arrays in European Conference on Computer Vision Springer Cham Glasgow UK 23 to 28 August 2020 pp. 488\u2013503.","DOI":"10.1007\/978-3-030-58526-6_29"},{"key":"e_1_3_1_73_2","unstructured":"Y. Liu J. Chen L. Bose P. Dudek W. Mayol-Cuevas Direct servo control from in-sensor CNN inference with a pixel processor array. arXiv:2106.07561 [cs.CV] (26 March 2021)."},{"key":"e_1_3_1_74_2","doi-asserted-by":"crossref","unstructured":"P.-E. Duhamel J. Porter B. Finio G. Barrows D. Brooks G.-Y. Wei R. Wood Hardware in the loop for optical flow sensing in a robotic bee in 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems pp. 1099\u20131106. IEEE San Francisco CA USA 25 to 30 September 2011.","DOI":"10.1109\/IROS.2011.6048759"},{"key":"e_1_3_1_75_2","unstructured":"A. Briod J.-C. Zufferey D. Floreano Optic-flow based control of a 46g quadrotor in Workshop on vision-based closed-loop control and navigation of micro Helicopters in GPS-denied Environments IROS 2013 ."},{"key":"e_1_3_1_76_2","doi-asserted-by":"crossref","unstructured":"M. Ishikawa A. Namiki T. Senoo Y. Yamakawa Ultra high-speed robot based on 1 kHz vision system in 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE Vilamoura-Algarve Portugal 7 to 12 October 2012) pp. 5460\u20135461.","DOI":"10.1109\/IROS.2012.6386295"},{"key":"e_1_3_1_77_2","doi-asserted-by":"crossref","unstructured":"P. Arena L. Fortuna M. Frasca G. Vagliasindi A. Basile CNN wave based computation for robot navigation on ACE16K in 2005 IEEE International Symposium on Circuits and Systems (IEEE Kobe Japan 5 to 23 May 2005) pp. 5818\u20135821.","DOI":"10.1109\/ISCAS.2005.1465961"},{"key":"e_1_3_1_78_2","doi-asserted-by":"crossref","unstructured":"J. Chen S. J. Carey P. Dudek Scamp5d vision system and development framework in Proceedings of the 12th International Conference on Distributed Smart Cameras pp. 1\u20132. 2018.","DOI":"10.1145\/3243394.3243698"},{"key":"e_1_3_1_79_2","unstructured":"Project Agile. www.project-agile.org. Retrieved July 2021."},{"key":"e_1_3_1_80_2","doi-asserted-by":"crossref","unstructured":"C. Greatwood L. Bose T. Richardson W. Mayol-Cuevas J. Chen S. J. Carey P. Dudek Tracking control of a UAV with a parallel visual processor IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) . (IEEE Vancouver British Columbia Canada 24 to 28 September 2017) pp. 4248\u20134254.","DOI":"10.1109\/IROS.2017.8206286"},{"key":"e_1_3_1_81_2","first-page":"1","article-title":"Agile reactive navigation for a non-holonomic mobile robot using a pixel processor array","author":"Liu Y.","year":"2021","unstructured":"Y. Liu, L. Bose, C. Greatwood, J. Chen, R. Fan, T. Richardson, S. J. Carey, P. Dudek, W. Mayol-Cuevas, Agile reactive navigation for a non-holonomic mobile robot using a pixel processor array. IET Image Process. , 1\u201310 (2021).","journal-title":"IET Image Process."},{"key":"e_1_3_1_82_2","unstructured":"C. Greatwood L. Bose T. Richardson W. Mayol-Cuevas R. Clarke J. Chen S. J. Carey P. Dudek Towards drone racing with a pixel processor array in 11th International micro air vehicle competition and conference (IMAV) Madrid Spain 2019 pp. 76\u201382."},{"key":"e_1_3_1_83_2","doi-asserted-by":"crossref","unstructured":"J. Chen Y. Liu S. J. Carey P. Dudek Proximity estimation using vision features computed on sensor in Proceedings of the IEEE International Conference on Robotics and Automation ICRA (IEEE Paris France 31 May to 31 August 2020) pp. 2689\u20132695.","DOI":"10.1109\/ICRA40945.2020.9197370"},{"key":"e_1_3_1_84_2","unstructured":"D. Nister O. Naroditsky J. Bergen Visual odometry in Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition 2004. CVPR 2004 (IEEE Washington DC USA 27 June to 2 July 2004) pp. I-I."},{"key":"e_1_3_1_85_2","doi-asserted-by":"crossref","unstructured":"L. Bose J. Chen S. J. Carey P. Dudek and W. Mayol-Cuevas Visual odometry for pixel processor arrays in International Conference on Computer Vision (ICCV) (IEEE Venice Italy 22 to 29 October 2017) pp. 4614\u20136421 .","DOI":"10.1109\/ICCV.2017.493"},{"key":"e_1_3_1_86_2","doi-asserted-by":"crossref","unstructured":"R. Murai S. Saeedi P. H. J. Kelly. BIT-VO: Visual odometry at 300 FPS using binary features from the focal plane in 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) . (IEEE Las Vegas NV USA 24 October 2020 to 24 January 2021) pp. 8579\u20138586.","DOI":"10.1109\/IROS45743.2020.9341151"},{"key":"e_1_3_1_87_2","doi-asserted-by":"crossref","unstructured":"C. Greatwood L. Bose T. Richardson W. Mayol-Cuevas J. Chen S. J. Carey P. Dudek Perspective correcting visual odometry for agile MAVs using a pixel processor array in IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Madrid Spain 1 to 5 October 2018) pp. 897\u2013994.","DOI":"10.1109\/IROS.2018.8594500"},{"key":"e_1_3_1_88_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00126"},{"key":"e_1_3_1_89_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908090961"},{"key":"e_1_3_1_90_2","doi-asserted-by":"crossref","unstructured":"M. J. Milford G. F. Wyeth D. Prasser RatSLAM: A hippocampal model for simultaneous localization and mapping in IEEE International Conference on Robotics and Automation 2004 . Proceedings. ICRA \u201804 Vol. 1. (IEEE New Orleans LA 26 April to 1 May 2004) pp. 403\u2013408.","DOI":"10.1109\/ROBOT.2004.1307183"},{"key":"e_1_3_1_91_2","doi-asserted-by":"crossref","unstructured":"H. Castillo-Elizalde Y. Liu L. Bose W. Mayol-Cuevas Weighted node mapping and localisation on a pixel processor array in 2021 IEEE International Conference on Robotics and Automation (ICRA) (IEEE ICRA Xi\u2019an China 30 May to 5 June 2021). pp. 1\u20137.","DOI":"10.1109\/ICRA48506.2021.9561524"},{"key":"e_1_3_1_92_2","unstructured":"H. Aoki B. Schiele A. Pentland Realtime personal positioning system for wearable computers in 2012 16th International Symposium on Wearable Computers (IEEE Computer Society San Francisco CA USA 18 to 19 October 1999). pp. 1\u20137."},{"key":"e_1_3_1_93_2","doi-asserted-by":"crossref","unstructured":"M. Milford Visual route recognition with a handful of bits Proc. 2012 robotics: Science and systems VIII (University of Sydney Australia 2012) pp. 297\u2013304.","DOI":"10.7551\/mitpress\/9816.003.0043"},{"key":"e_1_3_1_94_2","doi-asserted-by":"publisher","DOI":"10.1186\/s11671-017-1831-4"},{"key":"e_1_3_1_95_2","unstructured":"J. N. P. Martel P. Dudek Vision chips with in-pixel processors for high-performance low-power embedded vision systems in Workshop on Architectures and Systems for Real-time Mobile Vision Applications (ASR-MOV) International Symposium on Code Generation and Optimization CGO\u201916 Barcelona Spain 2016 pp. 3."},{"key":"e_1_3_1_96_2","doi-asserted-by":"crossref","unstructured":"B. Wang P. Dudek Coarse grain mapping method for image processing on fine grain cellular processor arrays in 2012 13th International Workshop on Cellular Nanoscale Networks and their Applications (IEEE Turin Italy 29 to 31 August 2012) pp. 1\u20136.","DOI":"10.1109\/CNNA.2012.6331421"},{"key":"e_1_3_1_97_2","doi-asserted-by":"crossref","unstructured":"T. Komuro S. Kagami M. Ishikawa Y. Katayama Development of a bit-level compiler for massively parallel vision chips in Proc. IEEE 7th Int. Workshop on Computer Architecture for Machine Perception (CAMP\u201905) Massachusetts Ave. NW Washington DC United States 4 to 6 July 2005 pp. 204\u2013209.","DOI":"10.1109\/CAMP.2005.21"},{"key":"e_1_3_1_98_2","doi-asserted-by":"publisher","DOI":"10.1145\/3291055"},{"key":"e_1_3_1_99_2","unstructured":"Y. Liu J. Chen L. Bose P. Dudek W. Mayol-Cuevas. Bringing a robot simulator to the SCAMP vision system. arxiv;2105.10479v1 [cs.RO] (21 May 2021)."},{"key":"e_1_3_1_100_2","doi-asserted-by":"crossref","unstructured":"L. Bose P. Dudek J. Chen S. Carey Sand castle summation for pixel processor arrays internations workshop on cellular processor arrays and applications CNNA 2021 (accepted).","DOI":"10.1109\/CNNA49188.2021.9610764"},{"key":"e_1_3_1_101_2","doi-asserted-by":"crossref","unstructured":"J. N. P. Martel M. Chau P. Dudek M. Cook Toward joint approximate inference of visual quantities on cellular processor arrays in 2015 IEEE International Symposium on Circuits and Systems (ISCAS) (IEEE Lisbon Portugal 24 to 27 May 2015) pp. 2061\u20132064.","DOI":"10.1109\/ISCAS.2015.7169083"},{"key":"e_1_3_1_102_2","doi-asserted-by":"crossref","unstructured":"L. Bose J. Chen S. J. Carey P. Dudek W. M.-Cuevas A camera that CNNs: Towards embedded neural networks on pixel processor arrays in Proceedings of the IEEE\/CVF International Conference on Computer Vision . 2019 pp. 1335\u20131344.","DOI":"10.1109\/ICCV.2019.00142"},{"key":"e_1_3_1_103_2","unstructured":"A. J. Davison FutureMapping: The computational structure of spatial AI systems. arXiv:1803.11288 [cs.GO] (29 March 2018)."},{"key":"e_1_3_1_104_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2020.2986944"},{"key":"e_1_3_1_105_2","doi-asserted-by":"publisher","DOI":"10.1002\/j.1538-7305.1970.tb01790.x"}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.abl7755","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,28]],"date-time":"2024-09-28T02:27:30Z","timestamp":1727490450000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.abl7755"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6,29]]},"references-count":104,"journal-issue":{"issue":"67","published-print":{"date-parts":[[2022,6,29]]}},"alternative-id":["10.1126\/scirobotics.abl7755"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.abl7755","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,6,29]]},"article-number":"eabl7755"}}