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CPV: Column Parallel Vision System

The research results have been a commercial reality by Hamamatsu Photonics. -> Intelligent Vision Sensor


Our 1ms vision system has a 128x128 PD array and an all parallel processor array connect to each other in a column parallel architecture, so that the bottleneck of an image transfer has been solved. 1ms visual feedback has been realized in this system, in which the image feature value is extracted in 1ms cycle-time for visual servoing.

(This is a collaborative research with Hamamatsu Photonics)

CPV-I CPV-II CPV-II + active



  1. Yoshihiro Nakabo, Idaku Ishii, and Masatoshi Ishikawa : 3D Tracking Using Two High-Speed Vision Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002) (Lausanne, 2002.10.4) / Proceedings, pp360-365
  2. Yoshihiro Nakabo, Masatoshi Ishikawa, Haruyoshi Toyoda and Seiichiro Mizuno : 1ms Column Parallel Vision System and Its Application of High Speed Target Tracking, IEEE Int. Conf. Robotics and Automation (San Francisco, 2000.4.26) / Proceedings, pp.650-655
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