3 papers
cs.RO2026
MAC-I: Learned Metrics-Aware Covariance for Robust Visual-Inertial Fusion in Initialization and Calibration
Xiang Fei, Yuheng Qiu, Can Xu +5
Visual-Inertial (VI) fusion is fundamental to accurate and robust state estimation, where camera and IMU measurements are combined according to their respective uncertainties. Exis…
cs.RO2025
AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability
Yuheng Qiu, Can Xu, Yutian Chen +3
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing le…
cs.RO2023
AirIMU: Learning Uncertainty Propagation for Inertial Odometry
Yuheng Qiu, Chen Wang, Can Xu +4
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Pr…