Inertial Frame

An inertial frame is a reference frame that is not accelerating; it provides a fixed point of reference for measuring motion and forces. Current research focuses on accurately estimating and aligning robot or sensor trajectories with this frame, often using inertial measurement units (IMUs) and employing techniques like factor graph optimization and neural networks (including equivariant architectures) to improve accuracy and robustness. These advancements are crucial for applications such as inertial navigation, precise mapping, and the control of robots with articulated bodies, enabling more sophisticated and reliable autonomous systems.