Inertial Navigation Systems

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  1. Embedded Bare-Metal Radar-Inertial Odometry

    Oct 5, 2026Nicolai Adil Øyen Aatif, Morten Nissov, Kostas AlexisInertial Navigation Systems

  2. FAST-Sync: Fast Group Synchronization for any Matrix Lie Group

    Sep 29, 2026Shane Holmes, Yiran Luo, Firat Taxpulat +2Lie GroupState Estimation

  3. Accuracy Evaluation of INS/ZUPT Filtering Methods Based on Different Geometric Error Definitions

    Sep 25, 2026Wei Ouyang, Jiale Han, Yarong Luo +1Equivariant FilterInertial Navigation Systems

  4. GINIO: A Geometric SO(3)-Equivariant Interface for Neural Inertial Odometry

    Sep 21, 2026Chankyo Kim, Minghan Zhu, Tzu-Yuan Lin +2Inertial Navigation SystemsInertial Measurement Units

  5. Range-Aided SLAM Initialization Exploiting Accurate Heading Information

    Sep 21, 2026Isabel Lougheed, James Richard ForbesSimultaneous Localization And MappingAutonomous Underwater Vehicles

  6. Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems

    Sep 17, 2026Arihant Lunawat, Pieter van Goor, Frank Dellaert +1Equivariant FilterInertial Navigation Systems

  7. TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer

    Sep 15, 2026Yang Liu, Yifan He, Wenhao Zhao +9Inertial Navigation SystemsEgocentric Motion Generation

  8. TRaIL-Odom: Tightly Coupled Continuous Time Radar-IMU-LiDAR Odometry with Adaptive Doppler Weighting

    Sep 3, 2026Chiyun Noh, Turcan Tuna, William Talbot +3Robust Lidar-Inertial OdometryLidar

  9. VeloBins: Learning Velocity and Its Uncertainty via Bins and Error-Conditioned Gaussian Labels for Aerial Inertial Odometry

    Aug 30, 2026Maulana Bisyir Azhari, Seungwook Lee, Donghun Han +2Inertial Navigation SystemsConditional Velocity

  10. Tether-Inertial Localization for Planetary Drones

    Aug 10, 2026Dielof van Loon, Anton Bredenbeck, Lennart Puck +2Drone-View Geo-LocalizationUnmanned Aerial Vehicles

  11. RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty

    Jul 30, 2026Sangwoo Jung, Dongjae Lee, Chiyun Noh +14D RadarOdometry

  12. DB-VIO: Dual-Branch Visual Inertial Odometry with Enhanced Visual-Inertial Representation

    Jul 24, 2026Ziyu Wan, Lin ZhaoVisual Inertial OdometryVisual-Inertial Systems

  13. DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency

    Jul 22, 2026Hao Qiao, Yan Wang, Jian Kuang +1Inertial Navigation SystemsAccelerometer Data

  14. VIDAR: Visual-Inertial Dense Alignment and Reconstruction via a Geometric Foundation Model

    Jul 19, 2026Diyari Mohammed Salih, Lingxiang Hu, Naima AitOufroukh-Mammar +1Inertial Navigation SystemsGeometric Metrics

  15. Attitude Estimation Using Inertial and Barometric Measurements

    Jul 14, 2026Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek HamelInertial Navigation SystemsGlobal Navigation Satellite System

  16. Uncertainty-Aware Velocity Correction for Proprioceptive Vehicle Localization using Evidential Mamba

    Jul 6, 2026Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick +1Inertial Navigation SystemsGlobal Navigation Satellite System

  17. Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays

    Jul 4, 2026Jonathan Kelly, Phone Thiha Kyaw, Mattew GiamouInertial Navigation SystemsState Estimation

  18. Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation

    Jul 3, 2026Antonia Hager, Torleiv H. BryneInertial Navigation SystemsExtended Kalman Filter

  19. Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems

    Jul 3, 2026Antonia Hager, Torleiv H. BryneExtended Kalman FilterInertial Navigation Systems

  20. Iterated Invariant EKF for 3D Landmark-Aided Inertial Navigation

    Jun 30, 2026Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio MeggiolaroInertial Navigation SystemsExtended Kalman Filter

  21. Robust Extended Kalman Filter for Land Navigation Using Massive Array of MEMS IMUs

    Jun 28, 2026Omer Hanani, Alon KipnisInertial Navigation SystemsExtended Kalman Filter

  22. NaviCache: Test-Time Self-Calibration Caching for Video Generation

    Jun 25, 2026Zheqi Lv, Zhibo Zhu, Jinke Wang +6Video GenerationAccelerometer Data

  23. Delta-Position Estimation-Based IMU Odometry: A Comparison of MLP and Kolmogorov-Arnold Networks

    Jun 24, 2026Osman Tokluoglu, Emin KeresteciInertial Navigation SystemsOdometry

  24. ISOPoT: Imaging Sonar Odometry by Point Tracking

    Jun 22, 2026Jaša Samec, Vid Rijavec, Marko Peljhan +4Forward-Looking SonarInertial Navigation Systems

  25. Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators

    Jun 21, 2026S. Yaqubi, J. MattilaExtended Kalman FilterState Estimation

  26. Motor Angular Speed Preintegration for Multirotor UAV State Estimation

    Jun 18, 2026Matěj Petrlík, Filip Novák, Robert Pěnička +1Inertial Navigation SystemsState Estimation

  27. TIDY: Thermal Infrared Image Denoising via Wavelet Domain Entropy and Directional Stripe Index

    Jun 18, 2026Tai Hyoung Rhee, Dong-Guw Lee, Ayoung KimIterative Denoising MethodsWavelets

  28. MosaicIMU: Composing Carrier Experts for Generalizable Neural Inertial Odometry

    Jun 8, 2026Junye Zou, Huiyi Yan, Xinning Xu +4Inertial Navigation SystemsKinematic Priors

  29. Electromagnetic Navigation for Femoral Osteotomy Using High-Accuracy X-ray-to-CT Registration

    Jun 2, 2026Roman Flepp, Arend Nieuwland, Bastian Sigrist +3CathetersImage Registration

  30. Wheel-Mounted/GNSS Fusion with AI-Aided Position Updates

    Jun 2, 2026Gal Versano, Itzik KleinInertial Navigation SystemsInertial Measurement Units

  31. MARIO: Motion-Augmented Real-Time Multi-Sensor Inertial Odometry

    Jun 2, 2026Yiquan Li, Taeyoung Yeon, Chenfeng Gao +3Inertial Measurement UnitsInertial Navigation Systems

  32. IMU Propagation as Preintegration

    May 27, 2026Jianzhu HuaiInertial Measurement UnitsInertial Navigation Systems

  33. RAMBA: 4D Radar Mapping by Bundle Adjustment

    May 24, 2026Jianzhu Huai, Yiwen Chen, Binliang Wang4D RadarInertial Navigation Systems

  34. Enhanced INS/GNSS State Estimation using GNSS-Based Acceleration Measurements

    May 23, 2026Gal Versano, Itzik KleinInertial Navigation SystemsGlobal Navigation Satellite System

  35. Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization

    May 21, 2026Kenzhi Iskandar Wong, Lin Yang, Qian Ying Lee +1InertialInertial Navigation Systems

  36. PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots

    May 17, 2026Jiarong Kang, Kunzhao Ren, Tao Pang +1Motion EstimationRigid-Body Dynamics

  37. Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay

    May 13, 2026Giulio Delama, Martin Scheiber, Yixiao Ge +3Inertial Navigation SystemsExtended Kalman Filter

  38. Tracking Large-scale Shared Bikes with Inertial Motion Learning in GNSS Blocked Environments

    May 8, 2026Feng Liu, Kejia Li, Zhiwei Yang +5Inertial Navigation SystemsGlobal Navigation Satellite System

  39. AI-Aided Advancements in Autonomous Underwater Vehicle Navigation

    May 6, 2026Guy Damari, Zeev Yampolsky, Nadav Cohen +4Autonomous Underwater VehiclesAutonomous Navigation

  40. On the Characterization and Limits of 4D Radar for Aided Inertial Navigation

    May 3, 2026Morten Nissov, Kostas AlexisInertial Navigation Systems4D Radar

  41. Pushing Radar Odometry Beyond the Pavement: Current Capabilities and Challenges

    Apr 27, 2026Shaunak Kolhe, Peng Jiang, Maggie Wigness +4OdometryRadar

  42. Equivariant Filter for Radar-Inertial Odometry

    Apr 24, 2026Giulio Delama, Jan Michalczyk, Morten Nissov +4Inertial Navigation SystemsExtended Kalman Filter

  43. Radar Odometry Subject to High Tilt Dynamics of Subarctic Environments

    Apr 21, 2026Matěj Boxan, William Larrivée-Hardy, François PomerleauInertial Navigation SystemsOdometry

  44. Geometrically-Constrained Radar-Inertial Odometry via Continuous Point-Pose Uncertainty Modeling

    Apr 3, 2026Wooseong Yang, Dongjae Lee, Minwoo Jung +1Inertial Navigation SystemsRadar

  45. H-RINS: Hierarchical Tightly-coupled Radar-Inertial State Estimation via Smoothing and Mapping

    Mar 14, 2026Ali Alridha Abdulkarim, Mikhail Litvinov, Dzmitry TsetserukouInertial Navigation SystemsInertial Measurement Units

  46. KISS-IMU: Self-supervised Inertial Odometry with Motion-balanced Learning and Uncertainty-aware Inference

    Mar 6, 2026Jiwon Choi, Hogyun Kim, Geonmo Yang +2Inertial Measurement UnitsInertial Navigation Systems

  47. GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry

    Nov 17, 2025Chiyun Noh, Sangwoo Jung, Hanjun Kim +3Inertial Navigation SystemsLegged Robots

  48. Diffusion Denoiser-Aided Gyrocompassing

    Jul 28, 2025Gershy Ben-Arie, Daniel Engelsman, Rotem Dror +1Inertial Navigation SystemsObject Goal Navigation