{"id":"https://openalex.org/W3014012811","doi":"https://doi.org/10.1109/iros45743.2020.9340851","title":"Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO","display_name":"Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3014012811","doi":"https://doi.org/10.1109/iros45743.2020.9340851","mag":"3014012811"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086088055","display_name":"Bal\u00e1zs Nagy","orcid":"https://orcid.org/0000-0001-5275-9439"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH","US"],"is_corresponding":true,"raw_author_name":"Balazs Nagy","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich","University of Zurich and ETH Zurich, Switzerland","University of Zurich,Robotics and Perception Group, Dep. of Informatics"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich and ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group, Dep. of Informatics","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043405996","display_name":"Philipp Foehn","orcid":"https://orcid.org/0000-0001-9585-1278"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Philipp Foehn","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich","University of Zurich and ETH Zurich, Switzerland","University of Zurich,Robotics and Perception Group, Dep. of Informatics"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich and ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group, Dep. of Informatics","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich","University of Zurich and ETH Zurich, Switzerland","University of Zurich,Robotics and Perception Group, Dep. of Informatics"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich and ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group, Dep. of Informatics","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086088055"],"corresponding_institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":6.5109,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.9656539,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7855427265167236},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6112385392189026},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6082661747932434},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.49339333176612854},{"id":"https://openalex.org/keywords/throughput","display_name":"Throughput","score":0.4516254961490631},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.4289083778858185},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.425309419631958},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.4104543924331665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4083198308944702},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37353232502937317},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.2788597345352173}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7855427265167236},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6112385392189026},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6082661747932434},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.49339333176612854},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.4516254961490631},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.4289083778858185},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.425309419631958},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.4104543924331665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4083198308944702},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37353232502937317},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.2788597345352173},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros45743.2020.9340851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.zora.uzh.ch:193793","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Nagy, Balazs; Foehn, Philipp; Scaramuzza, Davide  (2020). Faster than FAST: GPU-accelerated frontend for high-speed VIO.  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, 2020., Online, 25 October 2020 - 25 November 2020, IEEE/RSJ.","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:arXiv.org:2003.13493","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.13493","pdf_url":"https://arxiv.org/pdf/2003.13493","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3014012811","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2003.13493","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.13493","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.13493","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"doi:10.5167/uzh-193793","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-193793","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":""}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:193793","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Nagy, Balazs; Foehn, Philipp; Scaramuzza, Davide  (2020). Faster than FAST: GPU-accelerated frontend for high-speed VIO.  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, 2020., Online, 25 October 2020 - 25 November 2020, IEEE/RSJ.","raw_type":"Conference or Workshop Item"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1823387883","https://openalex.org/W1970504153","https://openalex.org/W2021323946","https://openalex.org/W2035379092","https://openalex.org/W2091790851","https://openalex.org/W2096901547","https://openalex.org/W2111308925","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2119605622","https://openalex.org/W2125501610","https://openalex.org/W2130103520","https://openalex.org/W2142149186","https://openalex.org/W2144506857","https://openalex.org/W2151103935","https://openalex.org/W2166132830","https://openalex.org/W2170282673","https://openalex.org/W2216550548","https://openalex.org/W2296147781","https://openalex.org/W2396274919","https://openalex.org/W2403089842","https://openalex.org/W2564632156","https://openalex.org/W2798513908","https://openalex.org/W2883702102","https://openalex.org/W3103648783","https://openalex.org/W3210232381","https://openalex.org/W4243425824","https://openalex.org/W4246614213","https://openalex.org/W6631707545","https://openalex.org/W6655740193","https://openalex.org/W6677548441","https://openalex.org/W6677871018","https://openalex.org/W6711909305","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W3129312095","https://openalex.org/W2139948986","https://openalex.org/W2793796391","https://openalex.org/W126774820","https://openalex.org/W2787651623","https://openalex.org/W2078186162","https://openalex.org/W2796729093","https://openalex.org/W29405094","https://openalex.org/W1987505373","https://openalex.org/W2064882268","https://openalex.org/W2057460344","https://openalex.org/W3033569682","https://openalex.org/W2272710565","https://openalex.org/W2805347283","https://openalex.org/W2586889100","https://openalex.org/W2059188694","https://openalex.org/W2898856400","https://openalex.org/W3004718036","https://openalex.org/W2129549365","https://openalex.org/W3172649647"],"abstract_inverted_index":{"The":[0],"recent":[1],"introduction":[2],"of":[3,50,66,73,90,122,181],"powerful":[4],"embedded":[5,195],"graphics":[6],"processing":[7,38,114],"units":[8],"(GPUs)":[9],"has":[10,21],"allowed":[11],"for":[12,86,97,125],"unforeseen":[13],"improvements":[14],"in":[15,63,183,189],"real-time":[16],"computer":[17,60],"vision":[18,61],"applications.":[19],"It":[20],"enabled":[22],"algorithms":[23,62],"to":[24,56,110,169],"run":[25],"onboard,":[26],"well":[27,95],"above":[28],"the":[29,48,64,103,111,120,159],"standard":[30],"video":[31],"rates,":[32],"yielding":[33],"not":[34],"only":[35],"higher":[36],"information":[37],"capability,":[39],"but":[40],"also":[41],"reduced":[42],"latency.":[43,115],"This":[44],"work":[45,77,117,203],"focuses":[46],"on":[47,58,78,83,129,193],"applicability":[49],"efficient":[51],"low-level,":[52],"GPU":[53,174],"hardware-specific":[54],"instructions":[55],"improve":[57],"existing":[59],"field":[65],"visual-inertial":[67],"odometry":[68],"(VIO).":[69],"While":[70],"most":[71],"steps":[72,93],"a":[74,133,206,210],"VIO":[75,207],"pipeline":[76,208],"visual":[79],"features,":[80],"they":[81],"rely":[82],"image":[84,113],"data":[85],"detection":[87,127],"and":[88,102,131,144,173,186],"tracking,":[89],"which":[91],"both":[92],"are":[94,107],"suited":[96],"parallelization.":[98],"Especially":[99],"non-maxima":[100,123,161],"suppression":[101,124,162],"subsequent":[104],"feature":[105,126,142,155,184],"selection":[106],"prominent":[108],"contributors":[109],"overall":[112],"Our":[116,148],"first":[118],"revisits":[119],"problem":[121],"specifically":[128],"GPUs,":[130],"proposes":[132],"solution":[134],"that":[135,157],"selects":[136],"local":[137],"response":[138],"maxima,":[139],"imposes":[140],"spatial":[141],"distribution,":[143],"extracts":[145],"features":[146],"simultaneously.":[147],"second":[149],"contribution":[150],"introduces":[151],"an":[152,194],"enhanced":[153],"FAST":[154],"detector":[156],"applies":[158],"aforementioned":[160],"method.":[163],"Finally,":[164],"we":[165,177,200],"compare":[166],"our":[167,202],"method":[168],"other":[170],"state-of-the-art":[171],"CPU":[172],"implementations,":[175],"where":[176],"always":[178],"outperform":[179],"all":[180],"them":[182],"tracking":[185],"detection,":[187],"resulting":[188],"over":[190],"1000fps":[191],"throughput":[192],"Jetson":[196],"TX2":[197],"platform.":[198],"Additionally,":[199],"demonstrate":[201],"integrated":[204],"into":[205],"achieving":[209],"metric":[211],"state":[212],"estimation":[213],"at":[214],"~200fps.Code":[215],"available":[216],"at:":[217],"https://github.com/uzh-rpg/vilib.":[218]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
