Abstract:Visual SLAM is a core component of spatial computing systems, yet deploying learned local feature extractors on microcontroller-class hardware remains challenging due to memory, bandwidth, and quantization constraints. While modern neural descriptors provide strong robustness, their practical adoption is often hindered by system-level bottlenecks that are not captured by FLOP-based efficiency metrics. In this work, we introduce Gideon, a hardware-aware neural feature extractor explicitly designed for resource-constrained devices. Our approach combines relational knowledge distillation from a SuperPoint teacher with differentiable neural architecture search (DNAS) under strict memory and operator constraints. Unlike conventional design pipelines, we treat quantization stability and dynamic-range compactness as first-class objectives. We show that architectural choices such as replacing Batch Normalization with affine layers significantly improve INT8 robustness, and that descriptor dimensionality directly governs quantization resilience. Deployed on STM32N6, Gideon achieves 9.003 ms inference time (111 fps) while remaining below a 1.5 MB memory footprint. Remarkably, INT8 quantization induces negligible degradation and occasionally matches full-precision performance. These results demonstrate that robust learned feature extraction can be reconciled with embedded hardware constraints through holistic hardware-algorithm co-design.
| Comments: | This paper has been accepted for publication at the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2026. \c{opyright}IEEE |
| Subjects: | Machine Learning (cs.LG) |
| Cite as: | arXiv:2605.04282 [cs.LG] |
| (or arXiv:2605.04282v1 [cs.LG] for this version) | |
| https://doi.org/10.48550/arXiv.2605.04282 arXiv-issued DOI via DataCite (pending registration) |
From: Pietro Bartoli Mr. [view email]
[v1]
Tue, 5 May 2026 20:32:00 UTC (1,534 KB)
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