# is it possible to run the VIO processing offboard, rather than on the VOXL Cam?

Source: https://forum.modalai.com/topic/576/is-it-possible-to-run-the-vio-processing-offboard-rather-than-on-the-voxl-cam
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-11-22 18:10:12 UTC by m1baldwin
Replies: 1 · Views: 475

## m1baldwin · 2021-11-22 18:10:12 UTC

Is it possible to split the VIO processing between onboard immediate processing of the image sensor stream and the actual VIO estimate happening in the cloud? Is this something the MPA supports?

## Reply by Chad Sweet (ModalAI staff) · 2021-11-22 18:19:04 UTC

The VOXL platforms are all open, with the code available at https://code.modalai.com . This enables our customers to modify however they see fit. The qvio server that ships takes ~33% of one CPU core (out of 4 cores). So it might not be a worthwhile exercise to move that to the could. If you were processing a much larger state estimate, like a full keyframe SLAM, then that processing could be done on a server. It might be hard to close the control loops in flight if you are trying to fly with it. As an outer loop though, it should work fine.