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dc.contributor.authorSuleiman, Amr
dc.contributor.authorZhang, Zhengdong
dc.contributor.authorCarlone, Luca
dc.contributor.authorKaraman, Sertac
dc.contributor.authorSze, Vivienne
dc.date.accessioned2021-11-02T17:14:36Z
dc.date.available2021-11-02T17:14:36Z
dc.date.issued2019-04
dc.identifier.issn0018-9200
dc.identifier.issn1558-173X
dc.identifier.urihttps://hdl.handle.net/1721.1/137120
dc.description.abstract© 1966-2012 IEEE. This paper presents Navion, an energy-efficient accelerator for visual-inertial odometry (VIO) that enables autonomous navigation of miniaturized robots (e.g., nano drones), and virtual reality (VR)/augmented reality (AR) on portable devices. The chip uses inertial measurements and mono/stereo images to estimate the drone's trajectory and a 3-D map of the environment. This estimate is obtained by running a state-of-the-art VIO algorithm based on non-linear factor graph optimization, which requires large irregularly structured memories and heterogeneous computation flow. To reduce the energy consumption and footprint, the entire VIO system is fully integrated on-chip to eliminate costly off-chip processing and storage. This paper uses compression and exploits both structured and unstructured sparsity to reduce on-chip memory size by 4.1 ×. Parallelism is used under tight area constraints to increase throughput by 43%. The chip is fabricated in 65-nm CMOS and can process 752 × 480 stereo images from EuRoC data set in real time at 20 frames per second (fps) consuming only an average power of 2 mW. At its peak performance, Navion can process stereo images at up to 171 fps and inertial measurements at up to 52 kHz, while consuming an average of 24 mW. The chip is configurable to maximize accuracy, throughput, and energy-efficiency tradeoffs and to adapt to different environments. To the best of our knowledge, this is the first fully integrated VIO system in an application-specified integrated circuit (ASIC).en_US
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionof10.1109/jssc.2018.2886342en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourcearXiven_US
dc.titleNavion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Dronesen_US
dc.typeArticleen_US
dc.identifier.citationSuleiman, Amr, Zhang, Zhengdong, Carlone, Luca, Karaman, Sertac and Sze, Vivienne. 2019. "Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones." 54 (4).
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics
dc.eprint.versionOriginal manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2019-07-03T16:37:44Z
dspace.date.submission2019-07-03T16:37:45Z
mit.journal.volume54en_US
mit.journal.issue4en_US
mit.licenseOPEN_ACCESS_POLICY
mit.metadata.statusAuthority Work and Publication Information Neededen_US


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