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



  • 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?



  • 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.


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