Visual sensor chip and imaging system based on adaptive sampling technology

Abstract

The application provides a visual sensor chip and an imaging system based on an adaptive sampling technology, which comprises a plurality of pixel units, an internal cache updating module and a space-time difference calculation module; a photosensitive module and a calculation signal cache module are arranged in each pixel unit. The photosensitive module determines an electrical signal at a current pixel unit position; the calculation signal cache module outputs a calculation signal under a calculation condition, otherwise, no calculation signal is output; the internal cache updating module updates a historical signal according to a temporary signal under an adaptive sampling mode and the calculation condition; the historical signal is not updated under the adaptive sampling mode and the non-calculation condition; the historical signal is updated according to the temporary signal under a non-adaptive sampling mode; and the space-time difference calculation module determines a space-time difference value according to the calculation signal, so that the adaptive sampling visual perception with lower bandwidth, lower noise and higher precision is realized.

Description

Technical Field

[0001] This invention relates to the field of visual sensing technology, and in particular to a visual sensor chip and imaging system based on adaptive sampling technology. Background Technology

[0002] A visual sensor is a device used to sense visible light information in the environment and convert it into an electrical signal. It is widely used in digital cameras and other electro-optical devices.

[0003] Currently, visual sensors include APS (Active Pixel Sensor) and DVS (Dynamic Vision Sensor). APS operates on a frame-based shooting and recording principle, capable only of processing color images arranged in a pixel matrix frame format. It boasts advantages such as high color fidelity, high resolution, and high image quality. However, APS acquires images with a relatively small dynamic range and a slow shooting speed. DVS, on the other hand, is sensitive to the rate of change of light intensity, with each pixel independently recording the logarithmic change in light intensity at that pixel. When the change exceeds a threshold, a positive or negative pulse is generated. Due to its asynchronous nature, DVS is not limited by shutter speed and possesses extremely high temporal resolution. Combined with its sensitivity to light intensity changes, DVS is naturally adaptable to tasks such as motion detection. However, DVS can only output time-varying information in 1-bit format, making it susceptible to noise interference, with low information content, low signal-to-noise ratio, and prone to extreme cases that do not satisfy the generalized sampling theorem, thus making it unsuitable for complex environments.

[0004] Therefore, the present invention urgently needs to provide an improved vision sensor. Summary of the Invention

[0005] To overcome the above-mentioned technical problems, the present invention provides a visual sensor chip and imaging system based on adaptive sampling technology, which achieves adaptive sampling visual perception with lower bandwidth, lower noise, and higher accuracy.

[0006] This invention provides a visual sensor chip based on adaptive sampling technology, comprising multiple pixel units, an internal cache update module, and a spatiotemporal difference calculation module; each pixel unit is provided with a photosensitive module and a calculation signal cache module; the calculation signal cache module includes temporary cache nodes and historical cache nodes; the photosensitive module is used to determine the electrical signal of the current pixel unit position; the electrical signal includes temporary signals and historical signals; the calculation signal cache module is used to output a calculation signal when the calculation conditions are met; and not to output a calculation signal when the calculation conditions are not met; the calculation conditions are that the difference between the temporary signal and the historical signal is greater than a preset threshold; the calculation signal is a sampled signal. The sampling selection mode is used for differential calculation; the sampling selection mode is either adaptive sampling mode or non-adaptive sampling mode; the temporary signal is stored in the temporary buffer node, and the historical signal is stored in the historical buffer node; the internal buffer update module is used to update the historical signal according to the temporary signal when the adaptive sampling mode meets the calculation conditions; when the adaptive sampling mode does not meet the calculation conditions, the historical signal is not updated; in the non-adaptive sampling mode, the historical signal is updated according to the temporary signal for each sampling; the spatiotemporal differential calculation module is used to determine the spatiotemporal differential value according to the calculated signal.

[0007] According to the present invention, a visual sensor chip based on adaptive sampling technology is provided, wherein the preset threshold is a fixed, programmable, or adaptive value.

[0008] According to a visual sensor chip based on adaptive sampling technology provided by the present invention, the photosensitive module includes a photodiode, a transmission switch, a reset switch, and a buffer; the anode of the photodiode is grounded, the cathode of the photodiode is connected to the first end of the transmission switch, the second end of the transmission switch is connected to the first end of the reset switch and the first end of the buffer, the second end of the reset switch is connected to the positive power supply terminal, and the second end of the buffer serves as the output terminal of the photosensitive module.

[0009] According to a visual sensor chip based on adaptive sampling technology provided by the present invention, the temporary cache node includes a temporary cache switch and a temporary cache capacitor; the historical cache node includes a historical cache switch and a historical cache capacitor; the updated internal cache module is a differential comparator; the first terminal of the temporary cache switch is connected to the second terminal of the buffer and the first terminal of the historical cache switch respectively; the second terminal of the temporary cache switch is connected to the first terminal of the temporary cache capacitor and the first input terminal of the differential comparator respectively; the second terminal of the temporary cache capacitor is grounded; the second terminal of the historical cache switch is connected to the first terminal of the historical cache capacitor and the second input terminal of the differential comparator respectively; the second terminal of the historical cache capacitor is grounded; the output terminal of the differential comparator serves as the output terminal of the internal cache module.

[0010] According to a visual sensor chip based on adaptive sampling technology provided by the present invention, the photosensitive module is specifically used to acquire the light signal of the current pixel unit position using the same time interval or an adaptive programmable time interval.

[0011] According to the visual sensor chip based on adaptive sampling technology provided by the present invention, each pixel unit is provided with an updated internal cache module.

[0012] According to a visual sensor chip based on adaptive sampling technology provided by the present invention, multiple pixel units share a single updated internal cache module.

[0013] According to a visual sensor chip based on adaptive sampling technology provided by the present invention, the spatiotemporal difference calculation module is specifically used to perform spatiotemporal difference calculation based on the calculation signal, and / or to perform spatiotemporal difference calculation based on the calculation signal of the pixel macroblock, wherein the pixel macroblock is a plurality of pixel units in a preset area.

[0014] According to the present invention, a visual sensor chip based on adaptive sampling technology further includes a convolution module, which is used to perform convolution processing on the calculated signal or the spatiotemporal difference value to obtain the convolved spatiotemporal difference value.

[0015] The present invention also provides an imaging system, including the aforementioned visual sensor chip based on adaptive sampling technology.

[0016] This invention provides a visual sensor chip and imaging system based on adaptive sampling technology. The visual sensor includes multiple pixel units, an internal update cache module, and a spatiotemporal difference calculation module. Each pixel unit contains a photosensitive module and a calculation signal cache module. The photosensitive module determines the electrical signal at the current pixel unit position. The calculation signal cache module outputs a calculated signal if the calculation conditions are met; otherwise, it does not output a calculated signal. The internal update cache module updates the historical signal based on a temporary signal in adaptive sampling mode when the calculation conditions are met; in adaptive sampling mode but the calculation conditions are not met, it does not update the historical signal. In non-adaptive sampling mode, the historical signal is updated based on a temporary signal with each sampling. The spatiotemporal difference calculation module determines the spatiotemporal difference value based on the calculated signal, achieving adaptive sampling visual perception with lower bandwidth, lower noise, and higher accuracy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a visual sensor chip based on adaptive sampling technology provided by the present invention;

[0019] Figure 2 This is one of the circuit diagrams of a visual sensor chip based on adaptive sampling technology provided by the present invention;

[0020] Figure 3 This is the second circuit diagram of a visual sensor chip based on adaptive sampling technology provided by the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] The basic principle of current mainstream image sensors is frame-based shooting and recording, which is achieved through active pixel (APS) arrays. Active pixel sensors can only process color images arranged in a pixel matrix image frame manner. They have the advantages of high color fidelity, high resolution and high image quality. However, the dynamic range of the image signals they acquire is relatively small and the shooting speed is relatively slow.

[0023] An event camera, also known as a dynamic vision sensor (DVS), is a novel imaging system. Unlike traditional cameras that use shutter speed to control frame rate and record light intensity frame by frame, event cameras are sensitive to the rate of change in light intensity. Each pixel independently records the logarithmic change in light intensity at that pixel, generating a positive or negative pulse when the change exceeds a threshold. This asynchronous nature of event cameras allows them to operate without shutter speed limitations, resulting in extremely high temporal resolution (approximately 1,000,000 frames per second, compared to approximately 100 frames per second for traditional cameras). Combined with their sensitivity to change, this makes them naturally suited for tasks such as motion detection.

[0024] The output of a DVS is asynchronous and consists only of a timestamp and 1 bit of information, making it susceptible to noise interference, with low information content and a low signal-to-noise ratio. Because the DVS can only output time-varying information in 1-bit format, it is prone to extreme cases that do not satisfy the generalized sampling theorem, making it unsuitable for complex environments.

[0025] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a visual sensor chip based on adaptive sampling technology provided by the present invention.

[0026] To address the technical problems existing in the prior art, this invention provides a visual sensor chip based on adaptive sampling technology, comprising multiple pixel units, an internal cache module 4 for updating, and a spatiotemporal difference calculation module 5. Each pixel unit is equipped with a photosensitive module 1 and a calculation signal cache module. The calculation signal cache module includes a temporary cache node 2 and a historical cache node 3. The photosensitive module 1 is used to determine the electrical signal of the current pixel unit position. The electrical signal includes a temporary signal and a historical signal. The calculation signal cache module is used to output a calculation signal when the calculation conditions are met, and not to output a calculation signal when the calculation conditions are not met. The calculation conditions are the temporary signal and the historical signal. The difference between the signals is greater than a preset threshold; the signal to be calculated is the signal used for differential calculation in the sampling selection mode; the sampling selection mode is either adaptive sampling mode or non-adaptive sampling mode; the temporary signal is stored in temporary buffer node 2, and the historical signal is stored in historical buffer node 3; the internal buffer update module 4 is used to update the historical signal based on the temporary signal when the calculation conditions are met in the adaptive sampling mode; the historical signal is not updated when the calculation conditions are not met in the adaptive sampling mode; in the non-adaptive sampling mode, the historical signal is updated based on the temporary signal for each sampling; the spatiotemporal difference calculation module 5 is used to determine the spatiotemporal difference value based on the calculated signal.

[0027] The human visual system can simultaneously perceive changes in time and space, making it more sensitive and robust to external stimuli. Inspired by human vision, this invention proposes a visual sensor with an adaptive temporal sampling rate. This sensor achieves passive adaptive sampling rate at the pixel unit or pixel macroblock (or pixel cluster), enabling it to actively adapt to external motion speeds. To obtain accurate motion fields and visual features, this invention, based on the aforementioned adaptive sampling rate pixels, develops a pixel architecture, array, and readout method specifically for this sensor.

[0028] First, the photosensitive module 1 acquires the light signal at the current pixel unit location and performs photoelectric conversion on the light signal to obtain the electrical signal at the current pixel unit location. Electrical signals include temporary signals. and historical signals .

[0029] Then, the computation signal buffer module outputs a computation signal when the difference between the temporary signal and the historical signal is greater than a preset threshold; and does not output a computation signal when the difference is not greater than the preset threshold. The computation signal is the signal used for differential calculation in the sampling selection mode; the sampling selection mode is either adaptive sampling mode or non-adaptive sampling mode. Temporary buffer node 2 stores the temporary signal, which is the electrical signal at the current pixel unit position at the current moment; historical buffer node 3 stores the historical signal. The historical signal is the electrical signal at the current pixel unit position at a historical moment.

[0030] Subsequently, the internal cache module 4 updates the historical signal based on the temporary signal when the difference between the temporary signal and the historical signal is greater than the preset threshold in adaptive sampling mode; it does not update the historical signal when the difference between the temporary signal and the historical signal is not greater than the preset threshold in adaptive sampling mode; and it updates the historical signal based on the temporary signal for each sampling in non-adaptive sampling mode.

[0031] Finally, the spatiotemporal difference calculation module 5 performs spatiotemporal difference calculations based on the calculated signal to obtain the spatiotemporal difference value. The spatiotemporal difference calculation module 5 includes a time difference calculation unit and a spatial difference calculation unit; the spatiotemporal difference value includes a time difference value and a spatial difference value; the time difference value is the output value of the time difference calculation unit; the spatial difference value is the output value of the spatial difference calculation unit. This achieves high-performance visual information processing with high speed, high precision, low computational cost, low power consumption, and low bandwidth, breaking through the resource wall, bandwidth wall, and power consumption wall currently faced by visual sensors.

[0032] It is understood that the time difference calculation unit and the spatial difference calculation unit of the present invention can both adopt the adaptive sampling difference calculation method, or one of the calculation units can adopt the adaptive sampling difference calculation method and the other calculation unit can adopt the non-adaptive sampling calculation method. The present invention does not make any special limitation here.

[0033] Furthermore, the visual sensor of the present invention may include a temporal difference calculation unit and a spatial difference calculation unit corresponding to the spatiotemporal difference calculation module 5, and may also include a color (intensity) calculation unit. The pixel array composed of multiple pixel units of the present invention can be (i.e., the pixel array contains only one type of pixel unit), or it can adopt a hybrid pixel array method (i.e., the pixel array contains multiple types of pixel units), or it can combine the two methods. Specifically, there are:

[0034] Three-output multiplexed pixels (intensity, TD (Time Deviation), SD (Space Deviation)).

[0035] Two input multiplexed pixels (intensity, TD) and SD pixels are used to form a binary hybrid array;

[0036] Two input multiplexed pixels (intensity, SD) and TD pixels are used to form a binary hybrid array;

[0037] Two input spatiotemporal difference pixels (TD, SD) and intensity pixels are used to form a binary hybrid array;

[0038] TD pixels, SD pixels, and intensity pixels are separate and form a ternary hybrid array. This invention does not impose any particular limitations on these components.

[0039] Based on the above embodiments:

[0040] As a preferred embodiment, the preset threshold is a fixed, programmable, or adaptive value.

[0041] To achieve the recording, conversion, and reading of temporal changes in visual signals, in this embodiment, each pixel unit outputs the current time. With a certain moment in history The difference, Determined by pixel adaptation, the data precision of this difference value is at least 2 bits or more.

[0042]

[0043] All of the signals mentioned above are three-dimensional quantities, including x , y Spatial two-dimensional quantity and time dimension t . For spatiotemporal difference values, This is a temporary signal. As a historical signal, For quantification methods, For updating the signal of internal cache module 4, ABS is the absolute value. TH This is a preset threshold.

[0044] That is, the historical storage node holds the electrical signal of a point in time before the current pixel unit position until the difference between the newly acquired electrical signal of the current pixel unit position and the previous signal exceeds a preset threshold. The preset threshold can be set to fixed, programmable, or adaptive (as output changes). F (It changes actively according to its size).

[0045] For spatial difference computation, y Taking direction calculation as an example, the signal stored in historical cache node 3 is... The signal stored in temporary cache node 2 is .like If the output is zero, then proceed to the next line. The comparison will continue in the next round. The relationship with TH; if Then, the current difference is calculated and quantized, and the history and temporary cache are switched (i.e., in the next sampling, the stored data will be used). The node is set as a cache node, and new data is written to the historical cache. The next comparison will be performed. The relationship with TH; the final output .

[0046] In a preferred embodiment, the photosensitive module 1 includes a photodiode, a transmission switch, a reset switch, and a buffer; the anode of the photodiode is grounded, the cathode of the photodiode is connected to the first end of the transmission switch, the second end of the transmission switch is connected to the first end of the reset switch and the first end of the buffer, the second end of the reset switch is connected to the positive power supply terminal, and the second end of the buffer serves as the output terminal of the photosensitive module 1.

[0047] In a preferred embodiment, temporary cache node 2 includes a temporary cache switch and a temporary cache capacitor; historical cache node 3 includes a historical cache switch and a historical cache capacitor; the updated internal cache module 4 is a differential comparator; the first terminal of the temporary cache switch is connected to the second terminal of the buffer and the first terminal of the historical cache switch, the second terminal of the temporary cache switch is connected to the first terminal of the temporary cache capacitor and the first input terminal of the differential comparator, the second terminal of the temporary cache capacitor is grounded, the second terminal of the historical cache switch is connected to the first terminal of the historical cache capacitor and the second input terminal of the differential comparator, the second terminal of the historical cache capacitor is grounded; the output terminal of the differential comparator serves as the output terminal of the internal cache module 4.

[0048] In a preferred embodiment, the photosensitive module 1 is specifically used to acquire the light signal at the current pixel unit position using the same time interval or an adaptive programmable time interval.

[0049] In this embodiment, the core of the adaptive time-varying pixel unit architecture circuit is pixel-level adaptive sampling rate operation. Externally, programmable triggers (with variable sampling intervals) or oversampling rates are used to perform synchronous high-speed sampling across the entire array.

[0050] The internal cache module 4 determines whether the internal historical cache node 3 needs to be updated, and the spatiotemporal difference calculation module 5 directly outputs the high-precision analog difference calculation result. The quantization of analog values ​​to digital values ​​can be performed in parallel circuits within the pixel or outside the pixel array.

[0051] Please refer to Figure 2 , Figure 2 This is one of the circuit diagrams of a vision sensor chip based on adaptive sampling technology provided by the present invention.

[0052] In a preferred embodiment, each pixel unit is provided with an updated internal cache module 4.

[0053] In this embodiment, each column of pixel units in the pixel array shares a spatiotemporal difference calculation module 5, and each pixel unit is equipped with an update internal cache module 4. Thus, the update internal cache module 4 can update the electrical signal of the historical cache node 3 at the current pixel unit position, and can realize spatiotemporal difference calculation of programmable time intervals.

[0054] In a preferred embodiment, multiple pixel units share a single internal update cache module 4.

[0055] To reduce the spatiotemporal redundancy of the sensor architecture, in this embodiment, each column of pixel units in the pixel array shares a spatiotemporal difference calculation module 5, and multiple pixel units, for example, each column of pixel units shares an update internal cache module 4. Thus, the update internal cache module 4 can update the electrical signal of the historical cache node 3 at the position of each column of pixel units, thereby reducing the spatiotemporal redundancy of the sensor architecture.

[0056] Please refer to Figure 3 , Figure 3 The second circuit diagram of a vision sensor chip based on adaptive sampling technology provided by the present invention.

[0057] In a preferred embodiment, the spatiotemporal difference calculation module 5 is specifically used to perform spatiotemporal difference calculation based on the calculation signal of a single pixel unit, and / or to perform spatiotemporal difference calculation based on the calculation signal of a pixel macroblock, wherein a pixel macroblock is a plurality of pixel units within a preset area.

[0058] To further reduce the spatiotemporal redundancy of the sensor architecture, in this embodiment, based on the distribution of temporal differences obtained under adaptive time sampling rate, high-precision spatial differences are output for all regions generating temporal differences; while in regions with low or no temporal differences, multiple pixel units are fused into pixel macroblocks to calculate spatial differences. The fusion method includes merging in a regular manner. By using individual pixel units and calculating the spatial difference of the fused pixel macroblock, the spatiotemporal difference redundancy can be significantly reduced, thereby reducing bandwidth and power consumption and improving sensing speed.

[0059] In a preferred embodiment, the system also includes a convolution module, which is used to perform convolution processing on the calculated signal or spatiotemporal difference value to obtain the convolved spatiotemporal difference value.

[0060] In this embodiment, the visual sensor chip based on adaptive sampling technology also includes a convolution module. The convolution module uses, for example, a Gaussian convolution kernel for averaging filtering to convolve the already obtained high-resolution spatial difference to obtain a low-resolution spatial difference, as shown in the following formula:

[0061]

[0062] in, These are the weights of the convolution kernel, the effect of which is to convert a high-resolution image into a multi-dimensional image. The image matrix is ​​reduced in resolution by a value through convolution. Spatial difference.

[0063] Of course, the convolution module of the visual sensor chip of the present invention can also be set between the calculation signal buffer module and the spatiotemporal difference calculation module 5. The convolution module performs convolution processing on the calculation signal output by the calculation signal buffer module to obtain the convolved calculation signal; then the spatiotemporal difference calculation module 5 performs spatiotemporal difference calculation based on the convolved calculation signal to obtain the spatiotemporal difference value.

[0064] The imaging system provided by the present invention is described below. The imaging system described below can be referred to in correspondence with the visual sensor chip based on adaptive sampling technology described above.

[0065] The present invention also provides an imaging system, including the aforementioned visual sensor chip based on adaptive sampling technology.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A visual sensor chip based on adaptive sampling technology, characterized in that, It includes multiple pixel units, an internal cache update module, and a spatiotemporal difference calculation module; each pixel unit is equipped with a photosensitive module and a calculation signal cache module; the calculation signal cache module includes temporary cache nodes and historical cache nodes; The photosensitive module is used to determine the electrical signal of the current pixel unit position; the electrical signal includes temporary signals and historical signals; The computation signal buffer module is used to output a computation signal when the computation conditions are met, and not to output a computation signal when the computation conditions are not met; the computation conditions are that the difference between the temporary signal and the historical signal is greater than a preset threshold; the computation signal is a signal used for differential computation in the sampling selection mode; the sampling selection mode is an adaptive sampling mode or a non-adaptive sampling mode; the temporary signal is stored in the temporary buffer node, and the historical signal is stored in the historical buffer node; The internal cache update module is used to update the historical signal according to the temporary signal when the adaptive sampling mode is in effect and the calculation conditions are met; not to update the historical signal when the adaptive sampling mode is in effect and the calculation conditions are not met; and to update the historical signal according to the temporary signal for each sample in the non-adaptive sampling mode. The spatiotemporal difference calculation module is used to determine the spatiotemporal difference value based on the calculated signal.

2. The visual sensor chip based on adaptive sampling technology according to claim 1, characterized in that, The preset threshold can be a fixed, programmable, or adaptive value.

3. The visual sensor chip based on adaptive sampling technology according to claim 1, characterized in that, The photosensitive module includes a photodiode, a transmission switch, a reset switch, and a buffer; The anode of the photodiode is grounded, the cathode of the photodiode is connected to the first end of the transmission switch, the second end of the transmission switch is connected to the first end of the reset switch and the first end of the buffer, the second end of the reset switch is connected to the positive power supply terminal, and the second end of the buffer serves as the output terminal of the photosensitive module.

4. The visual sensor chip based on adaptive sampling technology according to claim 3, characterized in that, The temporary cache node includes a temporary cache switch and a temporary cache capacitor; the historical cache node includes a historical cache switch and a historical cache capacitor; the update internal cache module is a differential comparator; The first terminal of the temporary buffer switch is connected to the second terminal of the buffer and the first terminal of the historical buffer switch, respectively. The second terminal of the temporary buffer switch is connected to the first terminal of the temporary buffer capacitor and the first input terminal of the differential comparator, respectively. The second terminal of the temporary buffer capacitor is grounded. The second terminal of the historical buffer switch is connected to the first terminal of the historical buffer capacitor and the second input terminal of the differential comparator, respectively. The second terminal of the historical buffer capacitor is grounded. The output terminal of the differential comparator serves as the output terminal of the internal buffer module.

5. The visual sensor chip based on adaptive sampling technology according to claim 1, characterized in that, The photosensitive module is specifically used to acquire the light signal at the current pixel unit position using either the same time interval or an adaptive programmable time interval.

6. The visual sensor chip based on adaptive sampling technology according to claim 1, characterized in that, Each pixel unit is equipped with an updated internal cache module.

7. The visual sensor chip based on adaptive sampling technology according to claim 1, characterized in that, Multiple pixel units share a single updated internal cache module.

8. The visual sensor chip based on adaptive sampling technology according to claim 1, characterized in that, The spatiotemporal difference calculation module is specifically used to perform spatiotemporal difference calculation based on the calculation signal of a single pixel unit, and / or to perform spatiotemporal difference calculation based on the calculation signal of a pixel macroblock, wherein the pixel macroblock is a plurality of pixel units within a preset area.

9. The visual sensor chip based on adaptive sampling technology according to any one of claims 1 to 8, characterized in that, It also includes a convolution module, which is used to perform convolution processing on the calculated signal or the spatiotemporal difference value.

10. An imaging system, characterized in that, Includes the visual sensor chip based on adaptive sampling technology as described in any one of claims 1 to 9.

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