This paper presents the architecture of a computer vision system targeted for real-time robot
vision and pattern recognition applications. The proposed mixed-signal very large scale
integration (VLSI) architecture integrates photo-transduction with low-and medium-level
processing such as multi-resolution edge extraction, scale-space integration, edge tracking,
dominant point extraction, and database generation. Its high performance stems from a
custom CMOS smart image sensor providing parallel access to illuminance data and a set of …