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In this paper, we present a smart, standalone, multi-platform stereo vision/IMU-based navigation system, providing ego-motion estimation. The real-time visual odometry algorithm is run on a nano ITX single-board computer (SBC) of 1.9 GHz CPU and 16-core GPU. Highresolution stereo images of 1.2 megapixel provide highquality data. Tracking of up to 750 features is made possible at 5 fps thanks to a minimal, but efficient, features detection-stereo matching-feature tracking scheme runs on the GPU.doi:10.1007/s11554-016-0613-z fatcat:sbgpqf4thracriz5hj5dlnssca