Efficient VIOExpert
HexVIO: Towards All-Day Stereo-Inertial Tracking Through Commodity DSPs
Preprint: HexVIO offloads the stereo-inertial VIO frontend of Basalt onto the Hexagon DSP in an unmodified Samsung Galaxy S23. It delivers a 67% whole-device power reduction at the CPU baseline's maximum throughput, or up to 86% higher throughput at matched power, while preserving accuracy. At paced 30 fps it tracks at 0.83 W, equivalent to about 18 hours on the device's 15 Wh battery, which matters for all-day XR, wearables, and robotics.