Neural Inertial Odometry from Lie Events

Royina Karegoudra Jayanth; Yinshuang Xu; Evangelos Chatzipantazis; Kostas Daniilidis; Daniel Gehrig

RSS 2025poster0 citations

Neural Inertial Odometry from Lie Events

Royina Karegoudra Jayanth, Yinshuang Xu, Evangelos Chatzipantazis, Kostas Daniilidis, Daniel Gehrig

Abstract

Neural displacement priors (NDPs) can reduce the drift in inertial odometry and provide uncertainty estimates that can be readily fused with off-the-shelf filters. However, they fail to generalize to different IMU sampling rates and trajectory profiles, which limits their robustness in diverse settings. To address this challenge, we replace the traditional NDP inputs comprising raw IMU data with

BibTeX

@inproceedings{rss2025_neuralinertialod,
  title = {Neural Inertial Odometry from Lie Events},
  author = {Royina Karegoudra Jayanth and Yinshuang Xu and Evangelos Chatzipantazis and Kostas Daniilidis and Daniel Gehrig},
  booktitle = {RSS 2025},
  year = {2025}
}