4 papers
NAViLoss: An Underwater Navigation-Aware Dual-Residual Objective for Physics-Consistent Learning
Arup Kumar Sahoo, Itzik Klein
Autonomous underwater vehicles (AUVs) commonly rely on inertial navigation systems (INS) aided by Doppler velocity logs (DVLs) for reliable underwater navigation. Accurate DVL velo…
Model-Based and Neural-Aided Approaches for Dog Dead Reckoning
Gal Versano, Itai Savin, Itzik Klein
Modern canine applications span medical and service roles, while robotic legged dogs serve as autonomous platforms for high-risk industrial inspection, disaster response, and searc…
PiDR: Physics-Informed Inertial Dead Reckoning for Autonomous Platforms
Arup Kumar Sahoo, Itzik Klein
A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information. In these chal…
ICD-Net: Inertial Covariance Displacement Network for Drone Visual-Inertial SLAM
Tali Orlev Shapira, Itzik Klein
Visual-inertial SLAM systems often exhibit suboptimal performance due to multiple confounding factors including imperfect sensor calibration, noisy measurements, rapid motion dynam…