VeloBins: Learning Velocity and Its Uncertainty via Bins and Error-Conditioned Gaussian Labels for Aerial Inertial Odometry

Maulana Bisyir Azhari, Seungwook Lee, Donghun Han +2

Inertial odometry (IO) is critical for aerial robots, where aggressive maneuvers and poor lighting degrade visual sensors. Recent learning-based IO methods improve traditional inte…