Toward High Performance, Programmable Extreme-Edge Intelligence for Neuromorphic Vision Sensors utilizing Magnetic Domain Wall Motion-based MTJ

The desire to empower resource-limited edge devices with computer vision (CV) must overcome the high energy consumption of collecting and processing vast sensory data. To address the challenge, this work proposes an energy-efficient non-von-Neumann in-pixel processing solution for neuromorphic vision sensors employing emerging (X) magnetic domain wall magnetic tunnel junction (MDWMTJ) for the first time, in conjunction with CMOS-based neuromorphic pixels. Our hybrid CMOS+X approach performs in-situ massively parallel asynchronous analog convolution, exhibiting low power consumption and high accuracy across various CV applications by leveraging the non-volatility and programmability of the MDWMTJ. Moreover, our developed device-circuit-algorithm co-design framework captures device constraints (low tunnel-magnetoresistance, low dynamic range) and circuit constraints (non-linearity, process variation, area consideration) based on monte-carlo simulations and device parameters utilizing GF22nm FD-SOI technology. Our experimental results suggest we can achieve an average of 45.3% reduction in backend-processor energy, maintaining similar front-end energy compared to the state-of-the-art and high accuracy of 79.17% and 95.99% on the DVS-CIFAR10 and IBM DVS128-Gesture datasets, respectively.

Technology-Circuit-Algorithm Tri-Design for Processing-in-Pixel-in-Memory (P2M)

The massive amounts of data generated by camera sensors motivate data processing inside pixel arrays, i.e., at the extreme-edge. Several critical developments have fueled recent interest in the processing-in-pixel-in-memory paradigm for a wide range of visual machine intelligence tasks, including (1) advances in 3D integration technology to enable complex processing inside each pixel in a 3D integrated manner while maintaining pixel density, (2) analog processing circuit techniques for massively parallel low-energy in-pixel computations, and (3) algorithmic techniques to mitigate non-idealities associated with analog processing through hardware-aware training schemes. This article presents a comprehensive technology-circuit-algorithm landscape that connects technology capabilities, circuit design strategies, and algorithmic optimizations to power, performance, area, bandwidth reduction, and application-level accuracy metrics. We present our results using a comprehensive co-design framework incorporating hardware and algorithmic optimizations for various complex real-life visual intelligence tasks mapped onto our P2M paradigm.

Neuromorphic-P2M: Processing-in-Pixel-in-Memory Paradigm for Neuromorphic Image Sensors

Edge devices equipped with computer vision must deal with vast amounts of sensory data with limited computing resources. Hence, researchers have been exploring different energy-efficient solutions such as near-sensor processing, in-sensor processing, and in-pixel processing, bringing the computation closer to the sensor. In particular, in-pixel processing embeds the computation capabilities inside the pixel array and achieves high energy efficiency by generating low-level features instead of the raw data stream from CMOS image sensors. Many different in-pixel processing techniques and approaches have been demonstrated on conventional frame-based CMOS imagers, however, the processing-in-pixel approach for neuromorphic vision sensors has not been explored so far. In this work, we for the first time, propose an asynchronous non-von-Neumann analog processing-in-pixel paradigm to perform convolution operations by integrating in-situ multi-bit multi-channel convolution inside the pixel array performing analog multiply and accumulate (MAC) operations that consume significantly less energy than their digital MAC alternative. To make this approach viable, we incorporate the circuit's non-ideality, leakage, and process variations into a novel hardware-algorithm co-design framework that leverages extensive HSpice simulations of our proposed circuit using the GF22nm FD-SOI technology node. We verified our framework on state-of-the-art neuromorphic vision sensor datasets and show that our solution consumes ~2x lower backend-processor energy while maintaining almost similar front-end (sensor) energy on the IBM DVS128-Gesture dataset than the state-of-the-art while maintaining a high test accuracy of 88.36%.

In-Sensor & Neuromorphic Computing are all you need for Energy Efficient Computer Vision

Due to the high activation sparsity and use of accumulates (AC) instead of expensive multiply-and-accumulates (MAC), neuromorphic spiking neural networks (SNNs) have emerged as a promising low-power alternative to traditional DNNs for several computer vision (CV) applications. However, most existing SNNs require multiple time steps for acceptable inference accuracy, hindering real-time deployment and increasing spiking activity and, consequently, energy consumption. Recent works proposed direct encoding that directly feeds the analog pixel values in the first layer of the SNN in order to significantly reduce the number of time steps. Although the overhead for the first layer MACs with direct encoding is negligible for deep SNNs and the CV processing is efficient using SNNs, the data transfer between the image sensors and the downstream processing costs significant bandwidth and may dominate the total energy. To mitigate this concern, we propose an in-sensor computing hardware-software co-design framework for SNNs targeting image recognition tasks. Our approach reduces the bandwidth between sensing and processing by 12-96x and the resulting total energy by 2.32x compared to traditional CV processing, with a 3.8% reduction in accuracy on ImageNet.

Enabling ISP-less Low-Power Computer Vision

In order to deploy current computer vision (CV) models on resource-constrained low-power devices, recent works have proposed in-sensor and in-pixel computing approaches that try to partly/fully bypass the image signal processor (ISP) and yield significant bandwidth reduction between the image sensor and the CV processing unit by downsampling the activation maps in the initial convolutional neural network (CNN) layers. However, direct inference on the raw images degrades the test accuracy due to the difference in covariance of the raw images captured by the image sensors compared to the ISP-processed images used for training. Moreover, it is difficult to train deep CV models on raw images, because most (if not all) large-scale open-source datasets consist of RGB images. To mitigate this concern, we propose to invert the ISP pipeline, which can convert the RGB images of any dataset to its raw counterparts, and enable model training on raw images. We release the raw version of the COCO dataset, a large-scale benchmark for generic high-level vision tasks. For ISP-less CV systems, training on these raw images result in a 7.1% increase in test accuracy on the visual wake works (VWW) dataset compared to relying on training with traditional ISP-processed RGB datasets. To further improve the accuracy of ISP-less CV models and to increase the energy and bandwidth benefits obtained by in-sensor/in-pixel computing, we propose an energy-efficient form of analog in-pixel demosaicing that may be coupled with in-pixel CNN computations. When evaluated on raw images captured by real sensors from the PASCALRAW dataset, our approach results in a 8.1% increase in mAP. Lastly, we demonstrate a further 20.5% increase in mAP by using a novel application of few-shot learning with thirty shots each for the novel PASCALRAW dataset, constituting 3 classes.

P2M-DeTrack: Processing-in-Pixel-in-Memory for Energy-efficient and Real-Time Multi-Object Detection and Tracking

Today's high resolution, high frame rate cameras in autonomous vehicles generate a large volume of data that needs to be transferred and processed by a downstream processor or machine learning (ML) accelerator to enable intelligent computing tasks, such as multi-object detection and tracking. The massive amount of data transfer incurs significant energy, latency, and bandwidth bottlenecks, which hinders real-time processing. To mitigate this problem, we propose an algorithm-hardware co-design framework called Processing-in-Pixel-in-Memory-based object Detection and Tracking (P2M-DeTrack). P2M-DeTrack is based on a custom faster R-CNN-based model that is distributed partly inside the pixel array (front-end) and partly in a separate FPGA/ASIC (back-end). The proposed front-end in-pixel processing down-samples the input feature maps significantly with judiciously optimized strided convolution and pooling. Compared to a conventional baseline design that transfers frames of RGB pixels to the back-end, the resulting P2M-DeTrack designs reduce the data bandwidth between sensor and back-end by up to 24x. The designs also reduce the sensor and total energy (obtained from in-house circuit simulations at Globalfoundries 22nm technology node) per frame by 5.7x and 1.14x, respectively. Lastly, they reduce the sensing and total frame latency by an estimated 1.7x and 3x, respectively. We evaluate our approach on the multi-object object detection (tracking) task of the large-scale BDD100K dataset and observe only a 0.5% reduction in the mean average precision (0.8% reduction in the identification F1 score) compared to the state-of-the-art.

P2M: A Processing-in-Pixel-in-Memory Paradigm for Resource-Constrained TinyML Applications

The demand to process vast amounts of data generated from state-of-the-art high resolution cameras has motivated novel energy-efficient on-device AI solutions. Visual data in such cameras are usually captured in the form of analog voltages by a sensor pixel array, and then converted to the digital domain for subsequent AI processing using analog-to-digital converters (ADC). Recent research has tried to take advantage of massively parallel low-power analog/digital computing in the form of near- and in-sensor processing, in which the AI computation is performed partly in the periphery of the pixel array and partly in a separate on-board CPU/accelerator. Unfortunately, high-resolution input images still need to be streamed between the camera and the AI processing unit, frame by frame, causing energy, bandwidth, and security bottlenecks. To mitigate this problem, we propose a novel Processing-in-Pixel-in-memory (P2M) paradigm, that customizes the pixel array by adding support for analog multi-channel, multi-bit convolution, batch normalization, and ReLU (Rectified Linear Units). Our solution includes a holistic algorithm-circuit co-design approach and the resulting P2M paradigm can be used as a drop-in replacement for embedding memory-intensive first few layers of convolutional neural network (CNN) models within foundry-manufacturable CMOS image sensor platforms. Our experimental results indicate that P2M reduces data transfer bandwidth from sensors and analog to digital conversions by ~21x, and the energy-delay product (EDP) incurred in processing a MobileNetV2 model on a TinyML use case for visual wake words dataset (VWW) by up to ~11x compared to standard near-processing or in-sensor implementations, without any significant drop in test accuracy.

Toward Efficient Hyperspectral Image Processing inside Camera Pixels

Hyperspectral cameras generate a large amount of data due to the presence of hundreds of spectral bands as opposed to only three channels (red, green, and blue) in traditional cameras. This requires a significant amount of data transmission between the hyperspectral image sensor and a processor used to classify/detect/track the images, frame by frame, expending high energy and causing bandwidth and security bottlenecks. To mitigate this problem, we propose a form of processing-in-pixel (PIP) that leverages advanced CMOS technologies to enable the pixel array to perform a wide range of complex operations required by the modern convolutional neural networks (CNN) for hyperspectral image recognition (HSI). Consequently, our PIP-optimized custom CNN layers effectively compress the input data, significantly reducing the bandwidth required to transmit the data downstream to the HSI processing unit. This reduces the average energy consumption associated with pixel array of cameras and the CNN processing unit by 25.06x and 3.90x respectively, compared to existing hardware implementations. Our custom models yield average test accuracies within 0.56% of the baseline models for the standard HSI benchmarks.

HYPER-SNN: Towards Energy-efficient Quantized Deep Spiking Neural Networks for Hyperspectral Image Classification

Hyper spectral images (HSI) provide rich spectral and spatial information across a series of contiguous spectral bands. However, the accurate processing of the spectral and spatial correlation between the bands requires the use of energy-expensive 3-D Convolutional Neural Networks (CNNs). To address this challenge, we propose the use of Spiking Neural Networks (SNNs) that are generated from iso-architecture CNNs and trained with quantization-aware gradient descent to optimize their weights, membrane leak, and firing thresholds. During both training and inference, the analog pixel values of a HSI are directly applied to the input layer of the SNN without the need to convert to a spike-train. The reduced latency of our training technique combined with high activation sparsity yields significant improvements in computational efficiency. We evaluate our proposal using three HSI datasets on a 3-D and a 3-D/2-D hybrid convolutional architecture. We achieve overall accuracy, average accuracy, and kappa coefficient of 98.68%, 98.34%, and 98.20% respectively with 5 time steps (inference latency) and 6-bit weight quantization on the Indian Pines dataset. In particular, our models achieved accuracies similar to state-of-the-art (SOTA) with 560.6 and 44.8 times less compute energy on average over three HSI datasets than an iso-architecture full-precision and 6-bit quantized CNN, respectively.