{"id":"https://openalex.org/W2759765602","doi":"https://doi.org/10.1109/jssc.2017.2751501","title":"A 1920 $\\times $ 1080 30-frames/s 2.3 TOPS/W Stereo-Depth Processor for Energy-Efficient Autonomous Navigation of Micro Aerial Vehicles","display_name":"A 1920 $\\times $ 1080 30-frames/s 2.3 TOPS/W Stereo-Depth Processor for Energy-Efficient Autonomous Navigation of Micro Aerial Vehicles","publication_year":2017,"publication_date":"2017-09-27","ids":{"openalex":"https://openalex.org/W2759765602","doi":"https://doi.org/10.1109/jssc.2017.2751501","mag":"2759765602"},"language":"en","primary_location":{"id":"doi:10.1109/jssc.2017.2751501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jssc.2017.2751501","pdf_url":null,"source":{"id":"https://openalex.org/S83637746","display_name":"IEEE Journal of Solid-State Circuits","issn_l":"0018-9200","issn":["0018-9200","1558-173X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Solid-State Circuits","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100780888","display_name":"Ziyun Li","orcid":"https://orcid.org/0000-0001-6070-6310"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ziyun Li","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007468197","display_name":"Qing Dong","orcid":"https://orcid.org/0000-0002-1380-269X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qing Dong","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007702824","display_name":"Mehdi Saligane","orcid":"https://orcid.org/0000-0003-0237-4690"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mehdi Saligane","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077601200","display_name":"Benjamin Kempke","orcid":"https://orcid.org/0000-0002-7908-183X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Kempke","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014202521","display_name":"Luyao Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luyao Gong","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038110244","display_name":"Zhengya Zhang","orcid":"https://orcid.org/0000-0001-5963-9018"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhengya Zhang","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014250626","display_name":"Ronald Dreslinski","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ronald Dreslinski","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000767141","display_name":"Dennis Sylvester","orcid":"https://orcid.org/0000-0003-2598-0458"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Sylvester","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026311377","display_name":"David Blaauw","orcid":"https://orcid.org/0000-0001-6744-7075"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Blaauw","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014196508","display_name":"Hun-Seok Kim","orcid":"https://orcid.org/0000-0002-6658-5502"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hun-Seok Kim","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5100780888"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.4625,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.73445445,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"53","issue":"1","first_page":"76","last_page":"90"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11019","display_name":"Image Enhancement Techniques","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11105","display_name":"Advanced Image Processing Techniques","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6273726224899292},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.6128528714179993},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.5287268757820129},{"id":"https://openalex.org/keywords/static-random-access-memory","display_name":"Static random-access memory","score":0.5092417001724243},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5074400305747986},{"id":"https://openalex.org/keywords/memory-bandwidth","display_name":"Memory bandwidth","score":0.5034186244010925},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.475501149892807},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4461921155452728},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4322183132171631},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.42070138454437256},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32268232107162476},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2973290681838989}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6273726224899292},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.6128528714179993},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.5287268757820129},{"id":"https://openalex.org/C68043766","wikidata":"https://www.wikidata.org/wiki/Q267416","display_name":"Static random-access memory","level":2,"score":0.5092417001724243},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5074400305747986},{"id":"https://openalex.org/C188045654","wikidata":"https://www.wikidata.org/wiki/Q17148339","display_name":"Memory bandwidth","level":2,"score":0.5034186244010925},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.475501149892807},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4461921155452728},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4322183132171631},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.42070138454437256},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32268232107162476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2973290681838989},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jssc.2017.2751501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jssc.2017.2751501","pdf_url":null,"source":{"id":"https://openalex.org/S83637746","display_name":"IEEE Journal of Solid-State Circuits","issn_l":"0018-9200","issn":["0018-9200","1558-173X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Solid-State Circuits","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309411","display_name":"University of California Berkeley","ror":"https://ror.org/01an7q238"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W94324781","https://openalex.org/W1557515246","https://openalex.org/W1674866864","https://openalex.org/W1874027545","https://openalex.org/W1890696944","https://openalex.org/W1977948323","https://openalex.org/W1979846720","https://openalex.org/W1980997960","https://openalex.org/W1989042897","https://openalex.org/W2001352122","https://openalex.org/W2014888258","https://openalex.org/W2024471218","https://openalex.org/W2031006164","https://openalex.org/W2031031248","https://openalex.org/W2039316803","https://openalex.org/W2059043768","https://openalex.org/W2105404016","https://openalex.org/W2117248802","https://openalex.org/W2133362840","https://openalex.org/W2143516773","https://openalex.org/W2144005885","https://openalex.org/W2147253850","https://openalex.org/W2150066425","https://openalex.org/W2163009106","https://openalex.org/W2165114467","https://openalex.org/W2180905035","https://openalex.org/W2289615953","https://openalex.org/W2474236724","https://openalex.org/W2511882376","https://openalex.org/W2550674027","https://openalex.org/W2565483432","https://openalex.org/W3026054707","https://openalex.org/W6603839943","https://openalex.org/W6633617711","https://openalex.org/W6656775695","https://openalex.org/W6679908058","https://openalex.org/W6696711501"],"related_works":["https://openalex.org/W3151633427","https://openalex.org/W2212894501","https://openalex.org/W2793465010","https://openalex.org/W3024050170","https://openalex.org/W4293253840","https://openalex.org/W4378977321","https://openalex.org/W2967161359","https://openalex.org/W1976168335","https://openalex.org/W2119025037","https://openalex.org/W2069974020"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,44,120,142,174,187],"single-chip,":[4],"high-performance,":[5],"and":[6,64,81],"energy-efficient":[7,138],"stereo":[8],"vision":[9],"depth-estimation":[10],"processor":[11,19,153],"for":[12,89,160],"micro":[13],"aerial":[14],"vehicles":[15],"(MAVs).":[16],"The":[17,151],"proposed":[18],"implements":[20],"the":[21,73,83,107,114,128,184],"state-of-the-art":[22],"semi-global":[23],"matching":[24],"(SGM)":[25],"algorithm":[26,74],"to":[27,105,135,190],"deliver":[28],"full":[29,164],"high-definition":[30],"(HD,":[31],"1920":[32],"<inline-formula":[33],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[34],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[35],"<tex-math":[36],"notation=\"LaTeX\">${\\times":[37],"}$":[38],"</tex-math></inline-formula>":[39],"1080)":[40],"stereo-depth":[41],"outputs":[42],"with":[43,99,167],"maximum":[45],"of":[46,133,148,157],"38":[47],"frames/s":[48],"throughput.":[49],"Algorithm-architecture":[50],"co-optimization":[51],"is":[52,103],"conducted,":[53],"introducing":[54],"overlapping":[55],"block-based":[56],"processing":[57,76],"that":[58,126],"eliminates":[59],"very":[60,143],"large":[61],"on-chip":[62,145],"memory":[63,130,139,146],"off-chip":[65],"DRAM.":[66],"We":[67,182],"exploit":[68],"inherent":[69],"data":[70,108],"parallelism":[71],"in":[72,93,113,177,194],"by":[75],"128":[77,91],"local":[78],"disparity":[79],"costs":[80,85],"aggregating":[82],"SGM":[84,115,134],"along":[86],"four":[87],"paths":[88],"all":[90],"disparities":[92],"parallel.":[94],"A":[95],"dependence-resolving":[96],"scan":[97],"associated":[98],"16-stage":[100],"deep":[101],"pipeline":[102],"introduced":[104],"hide":[106],"dependence":[109],"between":[110],"neighboring":[111],"pixels":[112],"algorithm.":[116],"Moreover,":[117],"we":[118],"propose":[119],"customized":[121],"ultra-high":[122],"bandwidth":[123,147],"dual-port":[124],"SRAM":[125],"utilizes":[127],"unique":[129],"access":[131,140],"characteristic":[132],"achieve":[136],"highly":[137],"at":[141,163],"high":[144],"1.64":[149],"Tb/s.":[150],"fabricated":[152],"produces":[154],"512":[155],"levels":[156],"depth":[158],"information":[159],"each":[161],"pixel":[162],"HD":[165],"resolution":[166],"30-frames/s":[168],"performance,":[169],"consuming":[170],"836":[171],"mW":[172],"from":[173],"0.75-V":[175],"supply":[176],"TSMC":[178],"40-nm":[179],"GP":[180],"CMOS.":[181],"ported":[183],"design":[185],"on":[186],"quadcopter":[188],"MAV":[189],"demonstrate":[191],"its":[192],"performance":[193],"realistic":[195],"real-time":[196],"flight.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
