Three-dimensional (3-D) instrumentation using an image sequence is a promising instrumentation method for intelligent systems in which accurate 3-D information is required. However, real-time instrumentation is difficult since much computation time and a large memory bandwidth are required. In this paper, a 3-D instrumentation VLSI processor with a concurrent memory-access scheme is proposed. To reduce the access time, frequently used data are stored in a cache register array and are concurrently transferred to processing elements using simple interconnections to the 8-nearest neighbor registers. Based on a row and column memory access pattern, we propose a diagonally interleaved frame memory by which pixel values of a row and column are stored across memory modules. Based on the concurrent memory-access scheme, a 40 GOPS vprocessor is designed and the delay time for the instrumentation is estimated to be 42 ms for a 256256 images.

The performance of processing elements can be improved by the progress of VLSI circuit technology, while the communication overhead can not be negligible in parallel processing system. This paper presents a unified scheduling that allocates tasks having different task processing times in multiple processing elements. The objective function is formulated to measure communication time between processing elements. By employing constraint conditions, the scheduling efficiently generates an optimal solution using an integer programming so that minimum communication time can be achieved. We also propose a VLSI processor for robotics whose latency is very small. In the VLSI processor, the data transfer between two processing elements can be done very quickly, so that the communication cycle time is greatly reduced.