{"id":"https://openalex.org/W2890660991","doi":"https://doi.org/10.1109/jssc.2018.2886342","title":"Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones","display_name":"Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones","publication_year":2019,"publication_date":"2019-01-03","ids":{"openalex":"https://openalex.org/W2890660991","doi":"https://doi.org/10.1109/jssc.2018.2886342","mag":"2890660991"},"language":"en","primary_location":{"id":"doi:10.1109/jssc.2018.2886342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jssc.2018.2886342","pdf_url":null,"source":{"id":"https://openalex.org/S83637746","display_name":"IEEE Journal of Solid-State Circuits","issn_l":"0018-9200","issn":["0018-9200","1558-173X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Solid-State Circuits","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044057726","display_name":"Amr Suleiman","orcid":"https://orcid.org/0000-0003-3669-4318"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Amr Suleiman","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100612732","display_name":"Zhengdong Zhang","orcid":"https://orcid.org/0000-0001-9014-4646"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhengdong Zhang","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066351389","display_name":"Vivienne Sze","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vivienne Sze","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044057726"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":145.1931,"has_fulltext":false,"cited_by_count":154,"citation_normalized_percentile":{"value":0.99951353,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"54","issue":"4","first_page":"1106","last_page":"1119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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":0.7386417984962463},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.6209271550178528},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6097635626792908},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5489750504493713},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.5082678198814392},{"id":"https://openalex.org/keywords/application-specific-integrated-circuit","display_name":"Application-specific integrated circuit","score":0.48215052485466003},{"id":"https://openalex.org/keywords/system-on-a-chip","display_name":"System on a chip","score":0.45801204442977905},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.42579665780067444},{"id":"https://openalex.org/keywords/throughput","display_name":"Throughput","score":0.41791510581970215},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41755813360214233},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4053517282009125},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38851675391197205},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3640020489692688},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1303684413433075}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7386417984962463},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.6209271550178528},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6097635626792908},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5489750504493713},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.5082678198814392},{"id":"https://openalex.org/C77390884","wikidata":"https://www.wikidata.org/wiki/Q217302","display_name":"Application-specific integrated circuit","level":2,"score":0.48215052485466003},{"id":"https://openalex.org/C118021083","wikidata":"https://www.wikidata.org/wiki/Q610398","display_name":"System on a chip","level":2,"score":0.45801204442977905},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.42579665780067444},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.41791510581970215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41755813360214233},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4053517282009125},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38851675391197205},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3640020489692688},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1303684413433075},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jssc.2018.2886342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jssc.2018.2886342","pdf_url":null,"source":{"id":"https://openalex.org/S83637746","display_name":"IEEE Journal of Solid-State Circuits","issn_l":"0018-9200","issn":["0018-9200","1558-173X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Solid-State Circuits","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W113729717","https://openalex.org/W139486989","https://openalex.org/W612478963","https://openalex.org/W1518672027","https://openalex.org/W1612997784","https://openalex.org/W2006368361","https://openalex.org/W2019400639","https://openalex.org/W2033819227","https://openalex.org/W2035155402","https://openalex.org/W2053881289","https://openalex.org/W2091790851","https://openalex.org/W2100346697","https://openalex.org/W2105824943","https://openalex.org/W2115772460","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2120883775","https://openalex.org/W2124386111","https://openalex.org/W2130103520","https://openalex.org/W2137813581","https://openalex.org/W2166132830","https://openalex.org/W2209124607","https://openalex.org/W2214788824","https://openalex.org/W2216550548","https://openalex.org/W2218842719","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2557430988","https://openalex.org/W2561115355","https://openalex.org/W2564632156","https://openalex.org/W2567660513","https://openalex.org/W2609285553","https://openalex.org/W2754957417","https://openalex.org/W2759765602","https://openalex.org/W2883702102","https://openalex.org/W3103648783","https://openalex.org/W3124420883","https://openalex.org/W4246483956","https://openalex.org/W4246614213","https://openalex.org/W4255097844","https://openalex.org/W6677548441","https://openalex.org/W6679388247","https://openalex.org/W6753105000"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W3153542184","https://openalex.org/W1828239946"],"abstract_inverted_index":{"This":[0,50,98],"paper":[1,99],"presents":[2],"Navion,":[3],"an":[4,158,188,225],"energy-efficient":[5],"accelerator":[6],"for":[7],"visual-inertial":[8],"odometry":[9],"(VIO)":[10],"that":[11],"enables":[12],"autonomous":[13],"navigation":[14],"of":[15,47,161,190,213],"miniaturized":[16],"robots":[17],"(e.g.,":[18],"nano":[19],"drones),":[20],"and":[21,35,43,72,81,96,102,106,135,178,201,204],"virtual":[22],"reality":[23,25],"(VR)/augmented":[24],"(AR)":[26],"on":[27,61],"portable":[28],"devices.":[29],"The":[30,128,193],"chip":[31,129,194],"uses":[32,100],"inertial":[33,179],"measurements":[34,180],"mono/stereo":[36],"images":[37,142,172],"to":[38,91,109,123,175,183,197,205,207],"estimate":[39,51],"the":[40,48,78,83,211,218],"drone's":[41],"trajectory":[42],"a":[44,56],"3-D":[45],"map":[46],"environment.":[49],"is":[52,87,117,130,195,217],"obtained":[53],"by":[54,114,126],"running":[55],"state-of-theart":[57],"VIO":[58,85,222],"algorithm":[59],"based":[60],"non-linear":[62],"factor":[63],"graph":[64],"optimization,":[65],"which":[66],"requires":[67],"large":[68],"irregularly":[69],"structured":[70,105],"memories":[71],"heterogeneous":[73],"computation":[74],"flow.":[75],"To":[76,210],"reduce":[77,110],"energy":[79],"consumption":[80],"footprint,":[82],"entire":[84],"system":[86,223],"fully":[88,220],"integrated":[89,221,227],"on-chip":[90,111],"eliminate":[92],"costly":[93],"off-chip":[94],"processing":[95],"storage.":[97],"compression":[101],"exploits":[103],"both":[104],"unstructured":[107],"sparsity":[108],"memory":[112],"size":[113],"4.1\u00d7.":[115],"Parallelism":[116],"used":[118],"under":[119],"tight":[120],"area":[121],"constraints":[122],"increase":[124],"throughput":[125],"43%.":[127],"fabricated":[131],"in":[132,147,224],"65-nm":[133],"CMOS":[134],"can":[136,169],"process":[137,170],"752":[138],"\u00d7":[139],"480":[140],"stereo":[141,171],"from":[143],"EuRoC":[144],"data":[145],"set":[146],"real":[148],"time":[149],"at":[150,173,181],"20":[151],"frames":[152],"per":[153],"second":[154],"(fps)":[155],"consuming":[156,187],"only":[157],"average":[159,189],"power":[160],"2":[162],"mW.":[163,192],"At":[164],"its":[165],"peak":[166],"performance,":[167],"Navion":[168],"up":[174,182],"171":[176],"fps":[177],"52":[184],"kHz,":[185],"while":[186],"24":[191],"configurable":[196],"maximize":[198],"accuracy,":[199],"throughput,":[200],"energy-efficiency":[202],"tradeoffs":[203],"adapt":[206],"different":[208],"environments.":[209],"best":[212],"our":[214],"knowledge,":[215],"this":[216],"first":[219],"application-specified":[226],"circuit":[228],"(ASIC).":[229]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":30},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":27},{"year":2021,"cited_by_count":27},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
