  Focal-Plane Sensor-Processor Arrays (FPSP)s are an emerging technology that
can execute vision algorithms directly on the image sensor. Unlike conventional
cameras, FPSPs perform computation on the image plane -- at individual pixels
-- enabling high frame rate image processing while consuming low power, making
them ideal for mobile robotics. FPSPs, such as the SCAMP-5, use parallel
processing and are based on the Single Instruction Multiple Data (SIMD)
paradigm. In this paper, we present BIT-VIO, the first Visual Inertial Odometry
(VIO) which utilises SCAMP-5.BIT-VIO is a loosely-coupled iterated Extended
Kalman Filter (iEKF) which fuses together the visual odometry running fast at
300 FPS with predictions from 400 Hz IMU measurements to provide accurate and
smooth trajectories.
