VLSI Implementation of Motion Estimation
Algorithm
Dr Mahesh1 Anupama B2
ECE ECE
PESCE PESCE
Mandya, India Mandya, India
mahesh@pesce.ac.in anupamaa803@gmail.com
C V Nithish Bharadwaj4 Srilakshmi N R5
ECE ECE
PESCE PESCE
Mandya, India Mandya, India
nithishcv1@gmail.com srinr2062002@gmail.com
Abstract— In the pursuit of advancing motion
detection and analysis in visual scenes, this project
aims in development of mixed mode Application
Specific Integrated Circuit (ASIC) system
implementation for a motion estimation algorithm.
Inspired by the intricate mechanisms found in nature,
particularly in the locomotion of insects, our approach
harnesses the principles of compound eyes and time-
of-travel optic flow sensing. The algorithm intricately
integrates time stamps associated with each frame,
transcending conventional optical flow estimation
methodologies.
Central to our endeavor is the development of
photoreceptor cells and a precise time-of-traversal
measurement unit. The hardware architecture
facilitates the capture of 8-bit 2D raw optic flow,
employing innovative techniques like logarithmic
response and ambient light adaptation. The proposed
ASIC architecture encompasses blocks for time stamp
updating, 2D array recording, and time-of-travel
calculation along horizontal, vertical, and diagonal
directions. These calculated values are then converted
into velocities through lookup tables and projected
onto x and y axes, resulting in high-fidelity 8-bit 2-D
optic flow (Vx, Vy). The simulation results of the
system which are found to be promising with respect
to power and area compared to the analogous
algorithm implementations in digital architecture.
Keywords— photodiode, photoreceptor, optic flow, time
stamp update, time of travel, velocity projection etc
I. INTRODUCTION
In the field of biomimicry, where researchers look to
nature's designs for inspiration to improve technology,
insects are particularly notable as excellent examples of
utility and efficiency. Insects provide important insights
into the functioning of sensory systems and locomotion,
even with their small size and seemingly simple
979-8-3503-0159-5/23/$31.00 ©2023 IEEE
Apoorva T K 3
ECE
PESCE
Mandya, India
apoorvatk123@gmail.com
architecture. The two different kinds of eye structures—
the compound eye and the simple eye, or ocelli—are
among their most distinctive characteristics. The
compound eye, a wonder of biological engineering made
up of several ommatidia that each act as a tiny eye unit, is
of particular interest. Because of their sophisticated
anatomy, insects can see a large area and have excellent
motion detection abilities, which helps them navigate
through challenging surroundings.Our motion sensing
approach is based on the blueprint found in nature and
aims to mimic the accuracy and efficiency of biological
systems. The idea of optic flow, which is based on
determining the temporal difference between successive
visual inputs to infer object movement within the field of
view, is fundamental to our methodology. In order to do
this, we have created a model of a photoreceptor that is
based on the biological processes that underlie insect
vision. Our motion detecting technology is based on this
paradigm, which makes it possible to convert photons into
electrical impulses. In addition, we created and executed a
positioning and time-of-traversal measuring device that
uses timestamp analysis to determine how long it takes an
item to move across pixels in the visual field.
We have verified the effectiveness and dependability of
our system by putting it through stringent integration,
testing, and validation processes. Our method, which is
based on biomimicry concepts, provides a flexible
framework for improving motion sensing abilities and
opening up new avenues for study and business.
Unlike most creatures that move their eyes, flies have a
unique kind of vision in which their retinas move under
fixed lenses. Like other animals, they use this movement
to detect motion and stabilize images. It's called the
optokinetic reflex. Additionally, when traversing
obstacles, it increases retinal overlap, which improves in
depth perception. This finding casts doubt on earlier
theories regarding insect vision and raises the possibility
that other insects may share comparable retinal
movements, pointing to a more dynamic visual system.
[1]. Fruit flies, or Drosophila, use unique neural
computations in their fixed compound eyes to sense
motion. T4 and T5 cells, which use linear and nonlinear
processing stages, respectively, to detect ON and OFF
movements, are important routes. A realistic model of the
motion detection circuitry has been created by functional
research in conjunction with a detailed mapping of the
connectome of the fly's visual system, including synaptic
connections, neurotransmitters, and neuron morphology.
This model highlights the sophisticated and intricate
structure of the fly's visual system, demonstrating
evolutionary advances and providing insights into the
principles of brain computing that apply to a wider range
of species [2]. A computer model based on physiological
investigations is provided, examining how fruit flies
(Drosophila) detect object motion direction versus
cluttered backdrops. It includes wide-field horizontally
and vertically sensitive as well as ON and OFF routes.
The model can reliably identify larger, quicker, and more
contrasted moving objects, which encourages the
development of neuromorphic sensors for intelligent
devices. [3]. Avoiding quickly approaching objects is
essential for both intelligent robots and mammals. A
computational model is inspired by the quick escape
circuit of flies, which includes LPLC2 neurons that
integrate motion detector inputs to recognize looming
structures. Tested on virtual robots, this model
demonstrates strong collision avoidance and useful
flexibility by varying parameters according on robot size.
It promises to be useful in noisy conditions for real-time
applications. [4]. With a small form, the Curved Artificial
Compound Eye provides a high temporal resolution and
wide field of view, drawing inspiration from insect vision.
The flexible imager is made up of three flat layers that are
curved: the flexible circuit board, the neuromorphic
photodetector array, and the microlens array.
The spatial resolution and light adaption of insect eyes are
mimicked in this prototype, which may find use in
surveillance systems, medical instruments, and
automobile navigation. [5]. Recent developments in
genetics and recording methods enable the investigation
of individual neurons involved in the visual activities of
Drosophila melanogaster. Motion detection, the functions
of photoreceptors in color and polarization vision, and
visual processing during flight are among the subjects
covered. The understanding of brain-behavior that these
discoveries provide is essential for researching visual
course control circuitry.[6] Drosophila's R7 and R8
photoreceptors show wavelength opponent features as a
result of interactions with nearby ommatidia that are
regulated by the Dm9 interneuron. This provides efficient
decorrelation by shaping the spectral tuning. Similar to
mammalian systems, two-photon imaging enhances
chromatic information extraction by revealing a complex
spatio-chromatic receptive field. [7]. Through R7 and R8
photoreceptors with wavelength opponent properties,
which are controlled by the Dm9 neuron, flies process
spectrum information. In doing so, chromatic information
is preserved and signals are decorrelates. This model
predicts a broadband surround and color opponent center,
enabling Drosophila to interpret visual information
efficiently.[8]. Autonomous Micro Aerial Vehicles create
depth maps by using optical flow from onboard cameras
to securely navigate inside passageways. Collision
avoidance is made possible using an omnidirectional
fisheye camera and IMU data that adjust for rotation.
[9]. Drawing inspiration from insect vision, Patrick A.
Shoemaker, Andrew M. Hyslop, and J. Sean Humbert
investigate optic flow estimation for autonomous flying. A
fly-like robot uses a virtual environment and a bio-
inspired control algorithm to navigate an obstacle-filled
arena in a manner similar to that of insects, specifically
honeybees. The study contrasts conventional computing
techniques with bioinspired motion detection systems.
When actual optic flow is present, bio-inspired algorithms
initially display less mutual information. However, in
contrast to computational approaches, their performance
dramatically improves when integrated spatially. This
suggests that improved optic flow estimation reliability
for navigation is achieved by spatial integration in insect
vision. [10] This work addresses altitude management as
an obstacle avoidance problem in ultra-light indoor
airplanes by proposing a unique control system using
translatory optic flow. Micro fliers use lightweight
cameras and MEMS rate gyros to avoid the ground and
ceiling without explicitly estimating their altitude. When
tested on a model micro flyer, encouraging outcomes were
seen. Parameter optimization and the improvement of
flight models for practical use are among the upcoming
tasks. [11]. A time-stamp image is produced by the
suggested time-stamp-based optic flow estimate, which
tracks the arrival timings of moving objects at each pixel.
An 8-bit subtractor and a lookup table for velocity
conversion are used to track position changes over time in
order to determine motion velocity. Inspired by the visual
processing of insects, this system calculates velocities
based on time differences and updates time-stamps to
efficiently detect motion.An improved version of Tobi
Delbrueck's Adaptive Photoreceptor, the Self Biasing
Adaptive Photoreceptor circuit is analyzed in Daniel
Oberhoff's research at the University of Zurich's Institute
of Neuroinformatics [12]. In order to partially succeed, it
entails theoretical modeling, stability analysis, and
instability mitigation. [13]. Previously used as a genetic
model, Drosophila melanogaster is now used to help with
in-depth research on behavior and visual processing.
Phototaxis and optomotor response are examples of
vision-driven behaviors that show detailed visual
processing from photoreceptors to brain regions,
influencing behaviors ranging from simple responses to
sophisticated navigation. [14].Through the use of a simple
motion detector algorithm inspired by insect visual
pathways, the work investigates the development of bio-
inspired optic flow sensors for micro-air vehicles. With
the use of high-pass and low-pass filters, this algorithm
adjusts to changing lighting conditions to improve
contrast and identify motion. One major breakthrough is
an optic flow estimation core based on time stamps that
makes motion identification easier by timing the passage
of visual features. For contexts where hardware is
constrained, such as MAVs, this strategy works well. The
design illustrates the viability of extending the 1D model
to 2D and improving autonomous navigation systems by
striking a balance between hardware efficiency and power
consumption. [15].The VLSI implementation of motion
estimation algorithms necessitates striking a balance
between power efficiency and computational precision.
Holistic techniques are often overlooked in favor of one
over the other in current research. There is a lack of
research on innovative architectural layouts or VLSI-
specific algorithm modifications. To close this gap and
achieve effective, high-performance solutions,
interdisciplinary efforts combining knowledge of motion
estimating algorithms, VLSI design, and system-level
optimization are required. Reducing circuit area through
the use of VLSI technology can greatly increase overall
efficiency.
Time stamp based optical flow estimating algorithm [15]
was determined to be more effective in terms of
processing area and power based on the models and
algorithms presented by many research groups; hence, it is
suited for ASIC implementation. The ASIC system's
component design for the system and subsystem is shown
in Section II.
II. SYSTEM AND SUBSYSTEM DESIGN
Block Diagram
Fig 1. System Level Diagram
Figure 1 depicts the system-level sub-blocks of the
intended ASIC that will be put into practice. Each block
has the ability to operate independently based on the
signal received from the stage before it. Below is a full
explanation of each sub-block's functions.
First subblock: The photodiode is represented by this
block, which is a Verilog A code model. This block
considers the voltage input in relation to the intensity of
the light. This block produces current as its output. Figure
2 depicts the photodiode's test bench. Figure 2 shows that
V0 is the diode reference voltage and that V1 is the value
proportional to the light intensity. The photodiode current
fluctuation is displayed in Table 1.
Fig 2. Testbench of Photodiode
TABLE 1. Simulation values of photodiode
Sl. No V1 in volts V2 in Id in femto
millivolts Amps
1 1 2 2
2 2 2 1.43
3 3 2 1.27
4 5 2 1.15
Sub-block II: It is truly amazing how much effort
Delbrück and Mead put into creating the first working
photoreceptor model. Their model includes two essential
characteristics of insect eyes: adaptation to ambient light
and logarithmic response. Let's dissect these attributes:
Logarithmic Reaction: Natural settings can have wide
variations in light intensity. The photoreceptor's
logarithmic response enables it to efficiently gather data at
a broad spectrum of light intensities. This implies that
even in extremely bright or extremely dark environments,
minute variations in light intensity can be seen.
Artificial photoreceptors that incorporate this trait can
function well in a range of illumination conditions, both
indoors and outdoors.
Adaptation to Ambient Light: Many other creatures,
including insects, have evolved defense systems against
variations in the amount of ambient light. This
modification guarantees that visual systems maintain their
effectiveness and responsiveness in a variety of
illumination scenarios. Artificial systems can imitate
biological vision systems' dynamic reactivity by
incorporating this trait into the photoreceptor model.
This adaptation usually entails modifying the
photoreceptor's sensitivity in accordance with the ambient
light levels. Fig. 3 The model of a photoreceptor. The
mosfets' dimensions are displayed in Table 2. Creating a
photodiode module is the first step in developing a
photoreceptor model. This module faithfully simulates
how incident photons are converted into electrical
impulses by a photodiode. It is incorporated into the larger
photoreceptor model after validation. This model contains
processes for signal amplification and adaptability in
addition to photon-to-electron conversion. Amplification
is necessary to increase the photodiode's tiny
photocurrent, and adaptation makes sure that the
sensitivity changes with the amount of light present.
This integrated technique makes it easier to simulate the
complete procedure accurately, from photon detection to
signal processing (fig. 4 shows the schematic for the
same). The resulting photoreceptor model provides
insights into the operation and possible uses of optical
sensing devices, making it an invaluable tool for research
and development.
Fig 3. Photoreceptor
Explanation of the function of each MOSFET in the given
circuit:
 M1 (Source-follower): Buffers the voltage from
the photodiode D1, isolating it from the rest of
the circuit.
 M2 (Amplification): Amplifies the buffered
signal from M1.
  M3 (Load): Acts as a load for the amplifier stage
involving M2, ensuring proper operation.
 M4 (Inverting Amplifier): Inverts and further
amplifies the signal from M2.
 M5 (Current Source): Provides a stable current
source for the inverting amplifier stage involving
M4.
Additional components:
- D1 (Photodiode): Converts light into an electrical signal.
- C1 and C2 (Capacitors): Stabilize and set the frequency
response of the amplifier stages.
TABLE 2. Mosfet dimensions
Sl. No Mosfet Size in µm
(W/L)
1 M1 6.4/9.6
2 M2 12.0/5.6
3 M3 5.6/9.6
4 M4 8.8/3.2
5 M5 8.8/9.6
Fig 4. Schematic of photoreceptor
Sub-block III: The optic flow estimation core, which is
further divided into 5 sub-blocks, is seen in Figure 5.
These sub-blocks handle raw 8-bit optic flow data
from nearby 3x3 time stamp data.
Fig 5. Optic flow estimation core
Time Stamp Update: The first sub-block in Figure 5 is
titled "Time Stamp Update," and it uses 1-bit feature
information to update the 2D array's time stamp
information for each frame. As a digital subsystem, the
time stamp update block has been constructed. It consists
of 64 units, each of which includes an object detection
feature with a 1 bit input. If an item is present, the
feature's value is binary 1, otherwise it is binary 0. The
time stamp update block is synthesized and displayed in
Fig. 6. If the value of the 1-bit feature is binary 1, the
output of each unit records the value of an 8-bit counter
that is connected parallel to every other unit.
Time Stamp 2D Array: Located in the second sub-block
of Figure 5, this 2D time stamp array stores the time
stamp data that is updated by the time stamp update block.
The synthesis of this block is shown in Fig 7. The
sequential 64 inputs of the time stamp 2D array block,
each of 8 bits (the result of the time stamp update block),
will be transformed into an 8X8 2D array.
Each pixel in the optic flow sensor's field of view has its
time stamp recorded in this array.
Fig 6. Schematic of time stamp update
Fig 7. Synthesis of time stamp 2D array
Time of travel: As shown in fig 5, four time of travel
blocks are used to calculate the time of travel along four
directions, which are horizontal, vertical and two
diagonals. This block has 2D array (output of the previous
block) as input and the output of this block will be time of
travel which is measure of difference between
neighbouring pixel values when any corresponding pixel
value changes. Fig 8 shows the synthesis of time of travel.
The measured time of travel values in four directions are
converted to velocities from 4 look up tables. Finally, the
four converted velocities are projected to x and y axes to
find 8 bit 2-D optic flow (Vx, Vy).
Fig 8. Synthesis of time of travel
Fig 9. Synthesis of velocity projection
Whenever the pixel value changes, then it’s position value
will be considered. Based on this value we determine the
magnitude of velocity and direction of travel in the
III. RESULTS
Fig 10. Simulation of photodiode
Figure 10 shows that the voltage related to intensity i.e.,
V2, is kept constant at 2 mV, while the diode reference
voltage V1, which is altered and measured in volts, is kept
constant. The appropriate anode and cathode currents, as
displayed in the waveform, are obtained based on the
value of V1. For instance, Id=1.43 femtoamps if V1=2V
and V2=2mV. Therefore, table 1 displays the equivalent
Id values in relation to the change in V1.
Fig 11. Simulation of Photoreceptor
First, we examined figure 11's c1, c2=0, and M1 is off.
When vpb and vcb are off, M3 will be on and M4 will be
off. As a result, in these circumstances, just the
photodiode current will be amplified, yielding the desired
result. When vpb is zero and vcb is one, which indicates
that M3 and M4 are on, the higher current will be taken
into account and amplified. The output is what will come
from this.
Fig 12. Simulation of timestamp update
The time stamp update waveform is displayed in Figure
12.The randomized variable en (64-bit bus for 64 units)
represents a single bit feature. Latching is the name given
to the output (8-bit value for every 64 units). If en is 1 bit
1, the latch will save the value of the 8 bit counter.
Fig 13. Simulation (console window result) of
timestamp 2D array
Figure 13 shows how the Time Stamp Update block's
output is transformed into a 2D array. This enhances
data manipulation and makes data retrieval easier for
the user. The outcome is displayed in a console
window, with each row and column of data consisting
of eight bits. The rows and columns in the timestamp
2D array that correspond to the counter values of the
timestamp update block are simply updated.
Fig 14. Simulation (console window result) of time of
travel and velocity projection
The time of travel (TOT) simulation results are displayed
in Figure 14. The difference between the values of the
neighboring pixels is used to calculate TOT. Variables a,
b, and m, n show how the location in a 2D array has
changed in figure 14. By calculating the difference
between the pixel values at positions a, b, and m, n, the
variable tot stores the TOT. The following equations are
also used to determine velocity projected on the x and y
direction components (u and v, respectively), using the
values of these variables.
u=V WE + ( V SW_NE+ V NW_SE ¿ ∕ √ 2
v=V SN + ( VSW_NE−VNW_SE ¿ ∕ √ 2
where
VWE = Velocity in horizontal direction
VSN = Velocity in vertical direction
VSW_NE , VNW_SE = Velocities in diagonal direction
Consider matrix[3][2]=8'd2, matrix[3][3]=8'd9.
tot is calculated by the difference between the two-pixel
values. So tot is tot=matrix[3][3] - matrix[3][2]
tot=8'd9-8'd2=8’d7
Hence tot is 7 which is shown in the console window, in
which 12 says the total time of travel value which is
calculated by adding all individual tot values.
So, a=3, b=2, and m=3, n=3.
Here the code is written such that we will get to know the
velocity direction and x and y co-ordinate value.
Here the pixel moves towards west, so
Vwe=1,
Vsn=Vsw_ne=Vnw_se=0,
x=1, y=0
So
u=Vwe+(Vsw_ne + Vnw_se)/√2
u=1+(0+0)/√2
u=1 [5] Dario Floreanoa, Ramon Pericet-Camaraa , Stéphane
v=Vsn+(Vsw_ne + Vnw_se)/√2 Violletb, Franck Ruffierb, Andreas Brücknerc, Robert
v=0+(0+0)/√2 Leitelc, Wolfgang Bussc, Mohsine Menounid, Fabien
v=0 Expertb, Raphaël Justonb, Michal Karol Dobrzynskia,
Then multiplying x and y component to u and v, then Geraud L’Eplatteniera , Fabian Recktenwalde , Hanspeter
u=x×u=1×1 A. Mallote, and Nicolas Franceschini (2013, June)
u=1 Miniature curved artificial compound eyes.
v=y×v=0×0 [6] Alexander Borst (2014 August). Fly visual course
v=0 control: behaviour, algorithms and circuits.
So final u and v is 1 and 0 which is shown in the console [7] Sarah L. Heath, Matthias P. Christenson, Elie Oriol,
output of velocity projection. Maia Saavedra-Weisenhaus, Jessica R. Kohn, Rudy
Behnia (2020, January). Circuit Mechanisms Underlying
Chromatic Encoding in Drosophila Photoreceptors.

TABLE 3. Area of all the blocks [8] llias Sourikopoulos, Sara Headayat, Christophe Loyez,
Sl.No Block Area Francois Danneville, Virginie Hoel, Eric Mercier, and
1 Photodiode 1.936m m 2 Alian Cappy(2017, March).A 4-fJ/Spike Artificial Neuron
in 65 nm CMOS Technology.
2 Photoreceptor 2.98m m 2 [9] T Delbruk, C. A. Maed (1996, April). ANALOG VLSI
3 Time Stamp Update 1.236m m 2 PHOTOTRANSDUCTION by continuous-time, adaptive,
4 Time Stamp 2D array 1.0948m m 2 logarithmic photoreceptor circuits.
[10] Daniel Oberhof (2003, March). Semesterarbeit in
5 Time Of Travel and 0.5089m m 2 Neuroinformatics An AVLSI-case study on the Self
Velocity
biasing Adaptive Photerecptor.
[11] Timothy A. Currier, Michelle M. Pang, Thomas R.
Clandinin (2023, March). Visual processing in the fly,
from photoreceptors to behavior.
[12] Simon Zingg, Davide Scaramuzza, Stephan Weiss,
IV. CONCLUSION
Roland Siegwart (2010, May). MAV Navigation through
Indoor Corridors Using Optical Flow.
The ASIC implementation if found to be effective in
[13] Patrick A. Shoemaker, Andrew M. Hyslop, J. Sean
terms of area power and speed. Overall area standing at
Humbert (2011, May). Optic Flow Estimation on
5.824mm2 with clock frequency set to be the power is
Trajectories Generated by Bio Inspired Closed-Loop
estimated to be 280mW.
Flight.
The results are found to be promising, further the system
[14] Antoine Beyeler, Jean-Christophe Zufferey and Dario
can be completely implemented as a off pin chip. The
Floreano (2007, January). 3D Vision-based Navigation for
optical flow-based estimation in mixed mode signal is
Indoor Microflyers.
found to be more effective compared to the digital counter
[15] Seok Jun Park (2014). Bio-Inspired Optic Flow
parts that are used in flow estimation.
Sensors for Artificial Compound Eyes.
V. AKNOWLEDGEMENT

We extend our deepest gratitude to the dedicated staff of

Project Lab, Communication Lab, and VLSI Lab and
Neuromorphic computing Lab PESCE within the
Department of Electronics and Communication
Engineering (ECE) at PES College of Engineering
(PESCE), Mandya for providing us all the resources and
guidence.

VI. REFERENCES

[1] Karin Nordstrom, Andrew B. Barron (2023, January).

Vision: Flies move their eyes.
[2] Alexander Borst and Lukas N. Groschner. (2023,
July). How Flies See Motion.
[3] Qinbing Fu1, Shigang Yue1. (2020, July). Modelling
Drosophila motion vision pathways for decoding the
direction of translating objects against cluttered moving
backgrounds.
[4] Junyu Zhao, Shengkai Xi, Yan Li, Aike Guo, Zhihua
Wu (2023, April). A fly inspired solution to looming
detection for collision avoidance.