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…