SpiderCam：基于差分散焦的低功耗快照深度相机
SpiderCam: Low-Power Snapshot Depth from Differential Defocus
把 depth-from-differential-defocus 从离线算法变成可在极小 FPGA 上流式运行的快照深度方案，其针对低功耗传感器的算法改进与内存局部化流式实现，可为资源受限端的被动深度感知提供可复用设计思路。
原文依据 processed with a SystemVerilog implementation of depth from differential defocus (DfDD) on a low-power FPGA
摘要译文
由模型翻译 · 术语统一 · 请对照原文核对关键结论我们提出 SpiderCam，一种基于 FPGA 的快照式散焦深度相机，可在 52 cm 的工作范围内以 32.5 FPS 实时生成 480x400 的稀疏深度图，总功耗仅为 611 mW。SpiderCam 由一台定制相机构成，该相机同时捕获同一场景的两幅不同对焦图像，并在低功耗 FPGA 上以 SystemVerilog 实现的差分散焦深度（DfDD）进行处理。为实现最优的功耗水平，我们对 DfDD 提出了算法改进，以克服低功耗传感器带来的挑战，并针对一款小到甚至无法存储单对图像的设备，设计了用于流式深度计算的内存局部化实现。我们报告了文献中首个基于无源 FPGA 的 3D 相机的亚瓦级总功耗测量结果。
英文原文摘要 824 字符
We introduce SpiderCam, an FPGA-based snapshot depth-from-defocus camera which produces 480x400 sparse depth maps in real-time at 32.5 FPS over a working range of 52 cm while consuming 611 mW of power in total. SpiderCam comprises a custom camera which simultaneously captures two differently focused images of the same scene, processed with a SystemVerilog implementation of depth from differential defocus (DfDD) on a low-power FPGA. To achieve state-of-the-art power consumption, we present algorithmic improvements to DfDD that overcome challenges caused by low-power sensors, and design a memory-local implementation for streaming depth computation on a device that is too small to store even a single image pair. We report the first sub-Watt total power measurement for passive FPGA-based 3D cameras in the literature.