# PIRVS: An Advanced Visual-Inertial SLAM System with Flexible Sensor Fusion and Hardware Co-Design

arXiv: https://arxiv.org/abs/1710.00893 · HTML: https://mlsanity.com/paper/1710.00893/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Oct 2017.

## Built on by (most cited first, 2 of 2)

- [Comparison of modern open-source visual SLAM approaches](https://mlsanity.com/paper/2108.01654/) (2021)
- [Dataflow Accelerator Architecture for Autonomous Machine Computing](https://mlsanity.com/paper/2109.07047/) (2021)

## Abstract (arXiv)

In this paper, we present the PerceptIn Robotics Vision System (PIRVS) system, a visual-inertial computing hardware with embedded simultaneous localization and mapping (SLAM) algorithm. The PIRVS hardware is equipped with a multi-core processor, a global-shutter stereo camera, and an IMU with precise hardware synchronization. The PIRVS software features a novel and flexible sensor fusion approach to not only tightly integrate visual measurements with inertial measurements and also to loosely couple with additional sensor modalities. It runs in real-time on both PC and the PIRVS hardware. We perform a thorough evaluation of the proposed system using multiple public visual-inertial datasets. Experimental results demonstrate that our system reaches comparable accuracy of state-of-the-art visual-inertial algorithms on PC, while being more efficient on the PIRVS hardware.