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cs.CV2026
MomentBA: Second-order Spatial Moments for Anisotropic Correspondence Uncertainty in Differentiable Bundle Adjustment
Yuqing Wang, Xiaoji Niu, Yan Wang +3
Most existing visual odometry (VO) systems treat feature correspondences as deterministic measurements or assign uniform uncertainty, ignoring the inherent localization ambiguity o…
cs.RO2026
DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency
Hao Qiao, Yan Wang, Jian Kuang +1
The training of learned inertial odometry depends on dense, high-precision position ground truth from motion capture, visual-inertial odometry or SLAM, which is costly and hard to…