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what could be best DIY arm controller or processor for AI-vision

Hi, Team, 
can someone suggest me low lost microprocessor microcontroller for my AI vision related project ? 

We need : 
1. Two camera for front view with depth analysis .. video recording with real time processing
2. One back camera normal 1080p recording.

could support i2s to connect mic & speaker as addon.

In my view : Basically i want our own raspberry pi commute pi 4 as its only minimal sized hardware yet to support AI-vision , can be used & fit on custom small pcb , but raspberry pi 4 is not available till next years. so long gap, can someone please help me find my desired Low lost microprocessor/microcontroller based on arm.  

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