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cs.RO2026
TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer
Yang Liu, Yifan He, Wenhao Zhao +9
Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and computing (SWaP-C) constraints, where visual sensors and LiDARs exce…
cs.RO2026
Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems
Yueteng Yang, Yusen Xie, Hao Wei +5
Multi-camera visual-inertial odometry (VIO) overcomes the inherent limitations of pure visual systems by expanding the field of view. However, existing algorithms are typically tai…
cs.RO2025
FAR-AVIO: Fast and Robust Schur-Complement Based Acoustic-Visual-Inertial Fusion Odometry with Sensor Calibration
Hao Wei, Peiji Wang, Qianhao Wang +3
Underwater environments impose severe challenges to visual-inertial odometry systems, as strong light attenuation, marine snow and turbidity, together with weakly exciting motions,…