2025
EqNIO: Subequivariant Neural Inertial Odometry
Royina Karegoudra Jayanth, Yinshuang Xu, Ziyun Wang, Evangelos Chatzipantazis, Kostas Daniilidis, Daniel Gehrig
ICLR 2025poster
Neural network-based odometry using accelerometer and gyroscope readings from a single IMU can achieve robust, and low-drift localization capabilities, through the use of _neural displacement priors (NDPs)_. These priors learn to produce denoised displacement measurements but need to ignore data var…