A 128$\times$128 120 dB 15 $\mu$s Latency Asynchronous Temporal Contrast Vision Sensor

This paper describes a 128 times 128 pixel CMOS vision sensor. Each pixel independently and in continuous time quantizes local relative intensity changes to generate spike events. These events appear at the output of the sensor as an asynchronous stream of digital pixel addresses. These address-events signify scene reflectance change and have sub-millisecond timing precision. The output data rate depends on the dynamic content of the scene and is typically orders of magnitude lower than those of conventional frame-based imagers. By combining an active continuous-time front-end logarithmic photoreceptor with a self-timed switched-capacitor differencing circuit, the sensor achieves an array mismatch of 2.1% in…

• ET
  Eidgenössische Technische Hochschule Zürich