{"id":"https://openalex.org/W2946758900","doi":"https://doi.org/10.23919/date.2019.8714921","title":"Visual Inertial Odometry At the Edge: A Hardware-Software Co-design Approach for Ultra-low Latency and Power","display_name":"Visual Inertial Odometry At the Edge: A Hardware-Software Co-design Approach for Ultra-low Latency and Power","publication_year":2019,"publication_date":"2019-03-01","ids":{"openalex":"https://openalex.org/W2946758900","doi":"https://doi.org/10.23919/date.2019.8714921","mag":"2946758900"},"language":"en","primary_location":{"id":"doi:10.23919/date.2019.8714921","is_oa":false,"landing_page_url":"https://doi.org/10.23919/date.2019.8714921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 Design, Automation &amp; Test in Europe Conference &amp; Exhibition (DATE)","raw_type":"proceedings-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/A5025376608","display_name":"Dipan Kumar Mandal","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dipan Kumar Mandal","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074908240","display_name":"Srivatsava Jandhyala","orcid":"https://orcid.org/0000-0002-1497-7264"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srivatsava Jandhyala","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031637729","display_name":"Om Ji Omer","orcid":"https://orcid.org/0000-0002-9149-5605"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Om J Omer","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072395015","display_name":"Gurpreet S. Kalsi","orcid":"https://orcid.org/0009-0000-7018-7585"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gurpreet S Kalsi","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086018840","display_name":"Biji George","orcid":"https://orcid.org/0000-0002-3551-3418"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Biji George","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071918425","display_name":"Gopi Neela","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gopi Neela","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067713168","display_name":"Santhosh Kumar Rethinagiri","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Santhosh Kumar Rethinagiri","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036799188","display_name":"Sreenivas Subramoney","orcid":"https://orcid.org/0000-0001-5372-0173"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sreenivas Subramoney","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089338818","display_name":"Lance Hacking","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lance Hacking","raw_affiliation_strings":["Emerging Growth Initiatives Group, Intel Corporation"],"affiliations":[{"raw_affiliation_string":"Emerging Growth Initiatives Group, Intel Corporation","institution_ids":["https://openalex.org/I4210094487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001806058","display_name":"Jim Radford","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jim Radford","raw_affiliation_strings":["Emerging Growth Initiatives Group, Intel Corporation"],"affiliations":[{"raw_affiliation_string":"Emerging Growth Initiatives Group, Intel Corporation","institution_ids":["https://openalex.org/I4210094487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062880038","display_name":"Eagle Jones","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eagle Jones","raw_affiliation_strings":["Emerging Growth Initiatives Group, Intel Corporation"],"affiliations":[{"raw_affiliation_string":"Emerging Growth Initiatives Group, Intel Corporation","institution_ids":["https://openalex.org/I4210094487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110082481","display_name":"Belliappa Kuttanna","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Belliappa Kuttanna","raw_affiliation_strings":["Emerging Growth Initiatives Group, Intel Corporation"],"affiliations":[{"raw_affiliation_string":"Emerging Growth Initiatives Group, Intel Corporation","institution_ids":["https://openalex.org/I4210094487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100370983","display_name":"Hong Wang","orcid":"https://orcid.org/0000-0003-1970-801X"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hong Wang","raw_affiliation_strings":["Microarchitecture Research Lab, Intel Labs"],"affiliations":[{"raw_affiliation_string":"Microarchitecture Research Lab, Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":13,"corresponding_author_ids":["https://openalex.org/A5025376608"],"corresponding_institution_ids":["https://openalex.org/I1343180700"],"apc_list":null,"apc_paid":null,"fwci":3.5703,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.92326193,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"960","last_page":"963"},"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":0.9936000108718872,"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":0.7211304903030396},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6557415127754211},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5980403423309326},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.5557794570922852},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.5363240242004395},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.5220091938972473},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.5008335113525391},{"id":"https://openalex.org/keywords/low-latency","display_name":"Low latency (capital markets)","score":0.45290878415107727},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.44346556067466736},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.433879554271698},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4323854446411133},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.41930657625198364},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4175128936767578},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3625527620315552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15442964434623718},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12347736954689026},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.084104984998703},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.06945231556892395}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7211304903030396},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6557415127754211},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5980403423309326},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.5557794570922852},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.5363240242004395},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.5220091938972473},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.5008335113525391},{"id":"https://openalex.org/C46637626","wikidata":"https://www.wikidata.org/wiki/Q6693015","display_name":"Low latency (capital markets)","level":2,"score":0.45290878415107727},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.44346556067466736},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.433879554271698},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4323854446411133},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.41930657625198364},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4175128936767578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3625527620315552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15442964434623718},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12347736954689026},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.084104984998703},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.06945231556892395},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/date.2019.8714921","is_oa":false,"landing_page_url":"https://doi.org/10.23919/date.2019.8714921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 Design, Automation &amp; Test in Europe Conference &amp; Exhibition (DATE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2039175521","https://openalex.org/W2055904838","https://openalex.org/W2056358962","https://openalex.org/W2105934661","https://openalex.org/W2357545926","https://openalex.org/W2486703440","https://openalex.org/W2557430988","https://openalex.org/W2754957417","https://openalex.org/W2883702102","https://openalex.org/W6753105000"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"Visual":[0],"Inertial":[1],"Odometry":[2],"(VIO)":[3],"is":[4,15],"used":[5],"for":[6,88],"estimating":[7],"pose":[8,133,175,203],"and":[9,14,30,42,69,85,126,162,196],"trajectory":[10],"of":[11,59,80,97,119,172],"a":[12,16,44,51,57,139,149,156,167,185,211],"system":[13],"foundational":[17],"requirement":[18],"in":[19,27,40,114,131,148,170],"many":[20],"emerging":[21],"applications":[22],"like":[23],"AR/VR,":[24],"autonomous":[25],"navigation":[26],"cars,":[28],"drones":[29],"robots.":[31],"In":[32,184],"this":[33],"paper,":[34],"we":[35],"analyze":[36],"key":[37],"compute":[38],"bottlenecks":[39],"VIO":[41,47,81,115,191,214],"present":[43],"highly":[45],"optimized":[46],"accelerator":[48,107,137,200],"based":[49,213],"on":[50],"hardware-software":[52],"codesign":[53],"approach.":[54],"We":[55],"detail":[56],"set":[58],"novel":[60],"micro-architectural":[61],"techniques":[62],"that":[63],"optimize":[64],"compute,":[65],"data":[66],"movement,":[67],"bandwidth":[68],"dynamic":[70],"power":[71,86],"to":[72,76,210],"make":[73],"it":[74],"possible":[75],"deliver":[77],"high":[78,109],"quality":[79],"at":[82,152],"ultra-low":[83],"latency":[84,177],"required":[87],"budget":[89],"constrained":[90],"edge":[91],"devices.":[92],"By":[93],"offloading":[94],"the":[95,98,104,106,189,199],"computation":[96],"critical":[99],"linear":[100],"algebra":[101],"algorithms":[102],"from":[103],"CPU,":[105],"enables":[108],"sample":[110],"rate":[111],"IMU":[112,128],"usage":[113],"processing":[116,121],"while":[117,178],"acceleration":[118],"image":[120,173],"pipe":[122],"increases":[123],"precision,":[124],"robustness":[125],"reduces":[127],"induced":[129],"drift":[130],"final":[132],"estimate.":[134],"The":[135],"proposed":[136],"requires":[138],"small":[140],"silicon":[141],"footprint":[142],"(1.3":[143],"mm":[144],"<sup":[145],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[146],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[147],"28nm":[150],"process":[151],"600":[153],"MHz),":[154],"utilizes":[155],"modest":[157],"on-chip":[158],"shared":[159],"SRAM":[160],"(560KB)":[161],"achieves":[163,202],"10x":[164],"speedup":[165],"over":[166],"software-only":[168],"implementation":[169],"terms":[171],"sample-based":[174],"update":[176],"consuming":[179],"just":[180],"2.2":[181],"mW":[182],"power.":[183],"FPGA":[186],"implementation,":[187],"using":[188],"EuRoC":[190],"dataset":[192],"(VGA":[193],"30fps":[194],"images":[195],"100Hz":[197],"IMU)":[198],"design":[201],"estimation":[204],"accuracy":[205],"(loop":[206],"closure":[207],"error)":[208],"comparable":[209],"software":[212],"implementation.":[215]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}