Navion- A 2-mW Fully Integrated Real-TimeVisual-Inertial Odometry Accelerator fo

Abstract

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 requir