{"id":"https://openalex.org/W4392188061","doi":"https://doi.org/10.1109/jssc.2024.3368350","title":"RoboVisio: A Micro-Robot Vision Domain-Specific SoC for Autonomous Navigation Enabling Fully-on-Chip Intelligence via 2-MB eMRAM","display_name":"RoboVisio: A Micro-Robot Vision Domain-Specific SoC for Autonomous Navigation Enabling Fully-on-Chip Intelligence via 2-MB eMRAM","publication_year":2024,"publication_date":"2024-02-27","ids":{"openalex":"https://openalex.org/W4392188061","doi":"https://doi.org/10.1109/jssc.2024.3368350"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/jssc.2024.3368350","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_indexed_in_scopus":true,"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":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-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/A5036388111","display_name":"Qirui Zhang","orcid":"https://orcid.org/0000-0001-8113-3558"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qirui Zhang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008585508","display_name":"Zichen Fan","orcid":"https://orcid.org/0000-0002-8181-2996"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zichen Fan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003532703","display_name":"Hyochan An","orcid":"https://orcid.org/0000-0002-6322-025X"},"institutions":[{"id":"https://openalex.org/I4210153776","display_name":"Apple (United States)","ror":"https://ror.org/059hsda18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153776"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hyochan An","raw_affiliation_strings":["Apple Inc., Cupertino, CA, USA"],"affiliations":[{"raw_affiliation_string":"Apple Inc., Cupertino, CA, USA","institution_ids":["https://openalex.org/I4210153776"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001001774","display_name":"Zhehong Wang","orcid":"https://orcid.org/0000-0001-5112-639X"},"institutions":[{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhehong Wang","raw_affiliation_strings":["Meta Platforms Inc., Menlo Park, CA, USA"],"affiliations":[{"raw_affiliation_string":"Meta Platforms Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210114444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100780888","display_name":"Ziyun Li","orcid":"https://orcid.org/0000-0001-6070-6310"},"institutions":[{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziyun Li","raw_affiliation_strings":["Meta Platforms Inc., Menlo Park, CA, USA"],"affiliations":[{"raw_affiliation_string":"Meta Platforms Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210114444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091360812","display_name":"Guanru Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I135428043","display_name":"Cisco Systems (United States)","ror":"https://ror.org/03yt1ez60","country_code":"US","type":"company","lineage":["https://openalex.org/I135428043"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guanru Wang","raw_affiliation_strings":["Cisco Systems Inc., San Jose, CA, USA"],"affiliations":[{"raw_affiliation_string":"Cisco Systems Inc., San Jose, CA, USA","institution_ids":["https://openalex.org/I135428043"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069810675","display_name":"Pierre Abillama","orcid":"https://orcid.org/0000-0001-9523-6152"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pierre Abillama","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","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\u2013Ann Arbor","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":["Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, 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\u2013Ann Arbor","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":["Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","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\u2013Ann Arbor","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":["Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":83},"biblio":{"volume":"59","issue":"8","first_page":"2644","last_page":"2658"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9989,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9978,"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/autonomous-robot","display_name":"Autonomous robot","score":0.42836627}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6212102},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.59574753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5188447},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.45304775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43875843},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4324739},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.42836627},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4047071},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38609958},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31351644},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.047985226},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.04495275},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/jssc.2024.3368350","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_indexed_in_scopus":true,"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":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.48}],"grants":[{"funder":"https://openalex.org/F4320316514","funder_display_name":"Arm","award_id":null}],"datasets":[],"versions":[],"referenced_works_count":44,"referenced_works":["https://openalex.org/W1530919911","https://openalex.org/W1612997784","https://openalex.org/W1968431658","https://openalex.org/W2067523571","https://openalex.org/W2104974755","https://openalex.org/W2105339504","https://openalex.org/W2130103520","https://openalex.org/W2133844819","https://openalex.org/W2160239037","https://openalex.org/W2194775991","https://openalex.org/W2302255633","https://openalex.org/W2396274919","https://openalex.org/W2554197840","https://openalex.org/W2591615233","https://openalex.org/W2611691523","https://openalex.org/W2625703740","https://openalex.org/W2625954420","https://openalex.org/W2732510496","https://openalex.org/W2745859992","https://openalex.org/W2783801856","https://openalex.org/W2788239209","https://openalex.org/W2890660991","https://openalex.org/W2891677407","https://openalex.org/W2899286889","https://openalex.org/W2922127512","https://openalex.org/W2922408905","https://openalex.org/W2955102412","https://openalex.org/W2967115342","https://openalex.org/W3048634765","https://openalex.org/W3048954826","https://openalex.org/W3107513365","https://openalex.org/W3110893193","https://openalex.org/W3118927099","https://openalex.org/W3135461891","https://openalex.org/W3185576717","https://openalex.org/W4226353746","https://openalex.org/W4229449337","https://openalex.org/W4286571697","https://openalex.org/W4286571851","https://openalex.org/W4286571858","https://openalex.org/W4287118909","https://openalex.org/W4317553465","https://openalex.org/W4360605392","https://openalex.org/W4360606495"],"related_works":["https://openalex.org/W4285102526","https://openalex.org/W3114279067","https://openalex.org/W3108829104","https://openalex.org/W2962810554","https://openalex.org/W287737911","https://openalex.org/W2771769625","https://openalex.org/W2382415423","https://openalex.org/W2122871747","https://openalex.org/W2090014568","https://openalex.org/W1594557686"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"RoboVisio,":[3],"an":[4,51],"efficient":[5,52],"and":[6,79,85,98,138,145,152,184],"highly":[7],"flexible":[8],"domain-specific":[9],"system-on-chip":[10],"(SoC)":[11],"for":[12,116,142,173,189],"vision":[13,31,73,182],"tasks":[14,32],"in":[15,28,50,165],"fully":[16],"autonomous":[17],"micro-robot":[18],"navigation.":[19],"A":[20],"novel":[21],"hybrid":[22],"processing":[23,60],"element":[24],"(PE)":[25],"is":[26,48],"proposed,":[27],"which":[29],"classic":[30,179],"achieve":[33],"high":[34],"efficiency":[35,193],"by":[36,136,162],"using":[37,202],"a":[38,63,104,122,147,191],"2-D-mapping":[41],"architecture,":[42,69],"while":[43,75],"convolutional":[44],"neural":[45],"network":[46],"(CNN)":[47],"executed":[49],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">output-channel-parallel":[55],"systolic":[56],"manner.":[57],"Combining":[58],"both":[59],"schemes":[61],"into":[62],"single":[64],"PE":[65],"array":[66,92],"future-proofs":[67],"the":[68,101,168],"facilitating":[70],"next-generation":[71],"CNN-heavy":[72],"algorithms,":[74],"saving":[76],"40%":[77],"area":[78,99],"leakage":[80],"with":[81,89,127],"no":[82],"power":[83,161],"overhead":[84],"throughput":[86],"loss,":[87],"compared":[88],"two":[90],"separate":[91],"implementations.":[93],"To":[94],"further":[95],"improve":[96],"energy":[97],"efficiency,":[100],"design":[102,169],"incorporates":[103],"number":[105],"of":[106,149],"key":[107],"features:":[108],"1)":[109],"2-MB":[110],"magnetoresistive":[111],"random":[112],"access":[113],"memory":[114,125,159,204],"(MRAM)":[115],"non-volatile":[117,203],"fully-on-chip":[118],"weight":[119,150,158],"storage;":[120],"2)":[121],"unified":[123],"image-activation":[124],"(IAMEM)":[126],"block-swapping-based":[128],"input/output":[129],"image":[130],"buffering":[131,151],"that":[132,156],"reduces":[133,157],"buffer":[134],"footprint":[135],"50%":[137],"eliminates":[139],"data":[140],"copy":[141],"multi-frame":[143],"buffering;":[144],"3)":[146],"combination":[148],"CNN":[153],"loop":[154],"ordering":[155],"system":[160],"75%.":[163],"Fabricated":[164],"22-nm":[166],"CMOS,":[167],"achieves":[170],"0.22":[171],"nJ/pixels":[172],"Harris":[174],"corner":[175],"feature":[176],"detection":[177],"(a":[178],"or":[180],"non-CNN":[181],"task)":[183],"3.5":[185],"TOPS/W":[186],"(16-bit":[187],"OP)":[188],"CNN,":[190],"40%\u2013170%":[192],"improvement":[194],"over":[195],"state-of-the-art":[196],"edge":[197],"machine":[198],"learning":[199],"(ML)":[200],"SoCs":[201],"(NVM).":[205]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4392188061","counts_by_year":[],"updated_date":"2025-01-18T16:11:56.443773","created_date":"2024-02-28"}