A low-light SPAD vision array

We present a low-light vision system platform that enables the testing and implementation of optic flow algorithms and kernel operations for micro-air vehicle navigation and obstacle avoidance capabilities. The system includes a 7×7 array of actively-quenched large-area single photon avalanche diodes, each having a compact 9-bit analog counter, and system-level time-of-fight range measurement with simulated sub-meter resolution. The system has a frame read-out rate of 100kHz and is implemented in a commercially available 0.5μm CMOS process.