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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.RO2025
MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry
Yuheng Qiu, Yutian Chen, Zihao Zhang +2
We propose the MAC-VO, a novel learning-based stereo VO that leverages the learned metrics-aware matching uncertainty for dual purposes: selecting keypoint and weighing the residua…