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

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