NeuRIO: A Streaming Neural Estimator for Zero-Shot Sim-to-Real Multi-Robot Relative Inertial Odometry

Zhehan Li, Jiadong Lu, Shengwei Ren +2

We present NeuRIO, a streaming neural estimator for anchor-free 6-DoF relative inertial odometry using only identified inter-robot bearings, ranges, and IMU measurements. NeuRIO ca…