{"id":"https://openalex.org/W3162561493","doi":"https://doi.org/10.1109/lra.2021.3075141","title":"Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle","display_name":"Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle","publication_year":2021,"publication_date":"2021-04-26","ids":{"openalex":"https://openalex.org/W3162561493","doi":"https://doi.org/10.1109/lra.2021.3075141","mag":"3162561493"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3075141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3075141","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5044109341","display_name":"Jinwoo Jeon","orcid":"https://orcid.org/0000-0002-9190-3031"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jinwoo Jeon","raw_affiliation_strings":["Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9190-3031","affiliations":[{"raw_affiliation_string":"Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102976179","display_name":"Sungwook Jung","orcid":"https://orcid.org/0000-0002-1313-1347"},"institutions":[{"id":"https://openalex.org/I4210131650","display_name":"Korea Electronics Technology Institute","ror":"https://ror.org/039k6f508","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210089395","https://openalex.org/I4210131650"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungwook Jung","raw_affiliation_strings":["Autonomous IoT Research Center, Korea Electronics Technology Institute (KETI), Seongnam, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-1313-1347","affiliations":[{"raw_affiliation_string":"Autonomous IoT Research Center, Korea Electronics Technology Institute (KETI), Seongnam, South Korea","institution_ids":["https://openalex.org/I4210131650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033233478","display_name":"Eungchang Mason Lee","orcid":"https://orcid.org/0000-0003-0219-784X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eungchang Lee","raw_affiliation_strings":["Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0219-784X","affiliations":[{"raw_affiliation_string":"Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039845236","display_name":"Duckyu Choi","orcid":"https://orcid.org/0000-0002-0050-8627"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Duckyu Choi","raw_affiliation_strings":["Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0050-8627","affiliations":[{"raw_affiliation_string":"Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5799-2026","affiliations":[{"raw_affiliation_string":"Urban Robotics Laboratory, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044109341"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":75.5401,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.99883251,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"5332","last_page":"5339"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7369757294654846},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7195185422897339},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5592756867408752},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5398321747779846},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5228158235549927},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5093077421188354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.503678023815155},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.251750648021698},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.21025848388671875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14656364917755127},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1410319209098816},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10251536965370178}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7369757294654846},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7195185422897339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5592756867408752},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5398321747779846},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5228158235549927},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5093077421188354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.503678023815155},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.251750648021698},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.21025848388671875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14656364917755127},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1410319209098816},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10251536965370178},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3075141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3075141","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322010","display_name":"Ministry of Land, Infrastructure and Transport","ror":"https://ror.org/04xt5aa77"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1970504153","https://openalex.org/W1998058414","https://openalex.org/W2021930164","https://openalex.org/W2056358962","https://openalex.org/W2091790851","https://openalex.org/W2097197771","https://openalex.org/W2105824943","https://openalex.org/W2126457740","https://openalex.org/W2148164661","https://openalex.org/W2290282860","https://openalex.org/W2396274919","https://openalex.org/W2411918187","https://openalex.org/W2464674920","https://openalex.org/W2535547924","https://openalex.org/W2738820790","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2765995404","https://openalex.org/W2797395780","https://openalex.org/W2830339951","https://openalex.org/W2883702102","https://openalex.org/W2909063396","https://openalex.org/W2910850106","https://openalex.org/W2935189788","https://openalex.org/W2954916993","https://openalex.org/W2962816904","https://openalex.org/W2962987986","https://openalex.org/W2963233640","https://openalex.org/W3004359000","https://openalex.org/W3018955265","https://openalex.org/W3018997134","https://openalex.org/W3036465205","https://openalex.org/W3041143809","https://openalex.org/W3046289513","https://openalex.org/W3089132088","https://openalex.org/W3090386798","https://openalex.org/W3098486636","https://openalex.org/W3102327032","https://openalex.org/W3115098797","https://openalex.org/W3175304168","https://openalex.org/W6719264329","https://openalex.org/W6758162286","https://openalex.org/W6776255763","https://openalex.org/W6787207604"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"benchmark":[3,201],"tests":[4],"of":[5,58,98,115,118,176,179,198],"various":[6,188],"visual(-inertial)":[7,167],"odometry":[8],"algorithms":[9,16,129],"on":[10,130,187],"NVIDIA":[11,70,132,136],"Jetson":[12,66,99,133,137,189],"platforms.":[13],"The":[14,170],"compared":[15,111],"include":[17],"mono":[18],"and":[19,25,36,62,84,121,141,144,184,192,203,211],"stereo,":[20,35],"covering":[21],"Visual":[22],"Odometry":[23,27],"(VO)":[24],"Visual-Inertial":[26],"(VIO):":[28],"VINS-Mono,":[29],"VINS-Fusion,":[30],"Kimera,":[31],"ALVIO,":[32],"Stereo-MSCKF,":[33],"ORB-SLAM2":[34],"ROVIO.":[37],"As":[38],"these":[39,72],"methods":[40],"are":[41,164],"mainly":[42],"used":[43],"for":[44,89,105,152,207],"unmanned":[45],"aerial":[46],"vehicles":[47],"(UAVs),":[48],"they":[49,75],"must":[50],"perform":[51],"well":[52],"in":[53,93,113,174],"situations":[54],"where":[55],"the":[56,59,96,116,157,177,196,199,205,208],"size":[57],"processing":[60,81,86,103],"board":[61],"weight":[63],"is":[64,172],"limited.":[65],"boards":[67,100],"released":[68],"by":[69],"satisfy":[71],"constraints":[73],"as":[74,101],"have":[76],"a":[77,102,146],"sufficiently":[78],"powerful":[79],"central":[80],"unit":[82,87],"(CPU)":[83],"graphics":[85],"(GPU)":[88],"image":[90],"processing.":[91],"However,":[92],"existing":[94],"studies,":[95],"performance":[97],"platform":[104],"executing":[106],"VO/VIO":[107,128],"has":[108,159],"not":[109],"been":[110],"extensively":[112],"terms":[114,175],"usage":[117,186],"computing":[119],"resources":[120],"accuracy.":[122],"Therefore,":[123],"this":[124],"study":[125],"compares":[126],"representative":[127],"several":[131,160],"platforms,":[134],"namely":[135],"TX2,":[138],"Xavier":[139],"NX,":[140],"AGX":[142],"Xavier,":[143],"introduces":[145],"novel":[147],"dataset":[148,158,206],"`KAIST":[149],"VIO":[150],"dataset'":[151],"UAVs.":[153],"Including":[154],"pure":[155],"rotations,":[156],"geometric":[161],"trajectories":[162],"that":[163],"harsh":[165],"to":[166],"state":[168],"estimation.":[169],"evaluation":[171],"performed":[173],"accuracy":[178],"estimated":[180],"odometry,":[181],"CPU":[182],"usage,":[183],"memory":[185],"boards,":[190],"algorithms,":[191],"trajectories.":[193],"We":[194],"present":[195],"results":[197],"comprehensive":[200],"test":[202],"release":[204],"computer":[209],"vision":[210],"robotics":[212],"applications.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
