{"id":"https://openalex.org/W2891677407","doi":"https://doi.org/10.1109/vlsic.2018.8502279","title":"Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones","display_name":"Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2891677407","doi":"https://doi.org/10.1109/vlsic.2018.8502279","mag":"2891677407"},"language":"en","primary_location":{"id":"doi:10.1109/vlsic.2018.8502279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vlsic.2018.8502279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Symposium on VLSI Circuits","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/116810","any_repository_has_fulltext":true},"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":["Massachusetts Institute of Technology, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, 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":["Massachusetts Institute of Technology, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, 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/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":["Massachusetts Institute of Technology, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, MA, USA","institution_ids":["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/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":["Massachusetts Institute of Technology, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, MA, USA","institution_ids":["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":["Massachusetts Institute of Technology, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, 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":58.927,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.9972413,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"133","last_page":"134"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9984999895095825,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.998199999332428,"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":0.756924033164978},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6896271705627441},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.6028262972831726},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.532779335975647},{"id":"https://openalex.org/keywords/system-on-a-chip","display_name":"System on a chip","score":0.4910893440246582},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4525909721851349},{"id":"https://openalex.org/keywords/throughput","display_name":"Throughput","score":0.4473971128463745},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4297635555267334},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.415517121553421},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38769713044166565},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.37720006704330444},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33554282784461975},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.181107759475708},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1447974145412445},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09385755658149719}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.756924033164978},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6896271705627441},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.6028262972831726},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.532779335975647},{"id":"https://openalex.org/C118021083","wikidata":"https://www.wikidata.org/wiki/Q610398","display_name":"System on a chip","level":2,"score":0.4910893440246582},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4525909721851349},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.4473971128463745},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4297635555267334},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.415517121553421},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38769713044166565},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.37720006704330444},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33554282784461975},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.181107759475708},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1447974145412445},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09385755658149719},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"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":2,"locations":[{"id":"doi:10.1109/vlsic.2018.8502279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vlsic.2018.8502279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Symposium on VLSI Circuits","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/116810","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/116810","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Sze","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/116810","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/116810","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Sze","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W2461937780","https://openalex.org/W2482726005","https://openalex.org/W3124420883","https://openalex.org/W3125449081"],"related_works":["https://openalex.org/W2158588773","https://openalex.org/W2397338137","https://openalex.org/W4308216800","https://openalex.org/W4205810114","https://openalex.org/W2389676953","https://openalex.org/W1677790289","https://openalex.org/W2090495941","https://openalex.org/W2389696750","https://openalex.org/W2558627660","https://openalex.org/W2372009607"],"abstract_inverted_index":{"This":[0,47,95],"paper":[1],"presents":[2],"Navion,":[3],"an":[4,153,185],"energy-efficient":[5],"accelerator":[6],"for":[7],"visual-inertial":[8],"odometry":[9],"(VIO)":[10],"that":[11],"enables":[12],"autonomous":[13],"navigation":[14],"of":[15,44,155,173],"miniaturized":[16],"robots":[17],"(e.g.,":[18],"nano":[19],"drones),":[20],"and":[21,32,40,68,77,93,99,103,132,143,165],"virtual/augmented":[22],"reality":[23],"on":[24,57,86],"portable":[25],"devices.":[26],"The":[27,125,157],"chip":[28,87,126,158],"uses":[29,97],"inertial":[30,144],"measurements":[31,145],"mono/stereo":[33],"images":[34,137],"to":[35,88,106,120,140,148,161],"estimate":[36,48],"the":[37,45,74,79,171,178],"drone's":[38],"trajectory":[39],"a":[41,53],"3D":[42],"map":[43],"environment.":[46],"is":[49,83,114,127,159,177],"obtained":[50],"by":[51,111,123],"running":[52],"state-of-the-art":[54],"algorithm":[55],"based":[56],"non-linear":[58],"factor":[59],"graph":[60],"optimization,":[61],"which":[62],"requires":[63],"large":[64],"irregularly":[65],"structured":[66,102],"memories":[67],"heterogeneous":[69],"computation":[70],"flow.":[71],"To":[72,170],"reduce":[73,107],"energy":[75],"consumption":[76],"footprint,":[78],"entire":[80],"VIO":[81,182],"system":[82,183],"fully":[84,180],"integrated":[85,181],"eliminate":[89],"costly":[90],"off-chip":[91],"processing":[92],"storage.":[94],"work":[96],"compression":[98],"exploits":[100],"both":[101],"unstructured":[104],"sparsity":[105],"on-chip":[108],"memory":[109],"size":[110],"4.1\u00d7.":[112],"Parallelism":[113],"used":[115],"under":[116],"tight":[117],"area":[118],"constraints":[119],"increase":[121],"throughput":[122,164],"43%.":[124],"fabricated":[128],"in":[129,184],"65nm":[130],"CMOS,":[131],"can":[133],"process":[134],"752\u00d7480":[135],"stereo":[136],"at":[138,146],"up":[139,147],"171":[141],"fps":[142],"52":[149],"kHz,":[150],"while":[151],"consuming":[152],"average":[154],"24mW.":[156],"configurable":[160],"maximize":[162],"accuracy,":[163],"energy-efficiency":[166],"across":[167],"different":[168],"environments.":[169],"best":[172],"our":[174],"knowledge,":[175],"this":[176],"first":[179],"ASIC.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":10}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
