Visual-Inertial Odometry

Also known as VIO

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7 papers in the last four weeks, against 1 the four weeks before. 0.1% of all new papers.

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  1. LBDU-VIO: Learned Bias Dynamics and Uncertainty for Visual-Inertial Odometry with Unreliable Vision

    Sep 30, 2026Qizhi Guo, Junning Lyu, Defu Lin +1Kalman FilteringVisual-Inertial Odometry

    School of Aerospace Engineering and the Beijing Key Laboratory of UAV Autonomous Control, Beijing Institute of Technology, Beijing 100081, China

  2. Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots

    Sep 29, 2026Branimir Ćaran, Vladimir Milić, Bojan Šekoranja +1Visual-Inertial OdometryRobot State Estimation

    Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, 10000, Croatia · Croatian Academy of Sciences and Arts, Zagreb, 10000, Croatia

  3. ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests

    Sep 28, 2026Arman Kiani, Masoud Ataei, Elvis Gyaase +4UAV NavigationVisual-Inertial SLAM

    Department of Electrical and Computer Engineering, University of Maine, Orono, ME 04469, USA · School of Forest Resources, University of Maine, Orono, ME 04469, USA

  4. DAVIO: Dense Monocular-Inertial SLAM with Feed-Forward Initialization and Pose-Conditioned Mapping

    Sep 23, 2026Jaafar Mahmoud, Arthur Movsesyan, Mikhail Iumanov +1Visual-Inertial SLAMVisual-Inertial Odometry

    Biomechatronics and Energy-Efficient Robotics (BE2R) Lab, ITMO University, Saint Petersburg, Russia.

  5. Dynamic-LIVO: A Dynamic-Aware LiDAR-Inertial-Visual Odometry System Using Spatio-Temporal Normals

    Sep 16, 2026Zhixin Zhang, Samuel Ahiwe, Matthew Hale +2Inertial OdometryCamera-LiDAR Fusion

    Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K. · Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, U.K. · School of Informatics, University of Edinburgh, Edinburgh EH8 9AB, U.K.

  6. Benchmarking Visual-Inertial Odometry in Subterranean Environments Under Sensor Degradation, Miscalibration, and Dynamic Occlusion

    Sep 16, 2026Yueying Zhu, Xiang Li, Thien-Minh Nguyen +2RoboticsVisual-Inertial Odometry

    Nanyang Technological University, Singapore. · Dalian University of Technology, China. · Queensland University, Australia. +1

  7. MFVINS: Multiple Fisheye Camera-Based Visual Inertial System

    Sep 8, 2026Eunseong Jang, YuJin Chung, Sang Jun Lee +2Visual-Inertial SLAMVisual-Inertial Odometry

    Division of Electronic Engineering, Jeonbuk National University, Jeonju, South Korea · BSTAR Robotics, Inc., Palo Alto, CA, USA

  8. ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals

    Aug 13, 2026Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh +1Trajectory OptimizationVisual-Inertial Odometry

  9. TANGO-VIO: Triangulation-Aware Navigation with Guaranteed Feature-Observability for Visual-Inertial Odometry

    Aug 3, 2026Abdülbaki Şanlan, Ege C. Altunkaya, Hasan T. Bağci +2Inertial OdometryUAV Navigation

    Faculty of Aeronautics and Astronautics, Istanbul Technical University, 34467 Istanbul, Türkiye

  10. DAP-Pose: Deep Temporal Alignment and Physics-aware Cross-modal Sensor Fusion for Robust Pose Estimation

    Jul 26, 2026Jianhan Lin, Yuchu Qin, Jiateng Yuan +2Visual-Inertial OdometryMultimodal Sensor Fusion

    Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China · International Research Center of Big Data for Sustainable Development Goals, Beijing 100094, China · University of Chinese Academy of Sciences, School of Electronic, Electrical and Communication Engineering, Beijing 100049, China +1

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

    Jul 24, 2026Ziyu Wan, Lin ZhaoVisual-Inertial OdometryMultimodal Sensor Fusion

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore.

  12. Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift

    Jul 20, 2026Yangyang Ning, Shu Liang, Quanbo Ge +3Distribution Shift RobustnessVisual-Inertial Odometry

    Department of Control Science and Engineering, Tongji University, Shanghai 201804, China

  13. Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry

    Jul 19, 2026Shuyi Pan, Hangtian Wang, Zhaoxing Zhang +3Visual-Inertial Odometry

    Huazhong University of Science and Technology, Wuhan, 430074, China · AI Chip Center for Emerging Smart Systems (AC-CESS), InnoHK Centers, Hong Kong Science Park, Hong Kong SAR, China

  14. DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles

    Jul 6, 2026Kyungmin Jung, Angad Bajwa, Junha Yoo +2Underwater RoboticsVisual-Inertial Odometry

    Department of Mechanical Engineering, McGill University, Montreal, QC, Canada

  15. DL-VINS-Factory: A Modular Framework for Learned Visual Front-Ends in Visual-Inertial SLAM

    Jul 2, 2026Shoon Kit Lim, Melissa Jia Ying Chong, Ting Yang LingVisual-Inertial SLAMVisual-Inertial Odometry

    University of Southampton Malaysia, Iskandar Puteri, Johor, Malaysia · University of Southampton, Southampton SO17 1BJ, U.K.

  16. Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems

    Jun 29, 2026Yueteng Yang, Yusen Xie, Hao Wei +5Kalman FilteringVisual-Inertial Odometry

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Differential Robotics, Hangzhou 311100, China · Zhejiang University, Hangzhou 310027, China +1

  17. Cross-Spectral Stereo Inertial Odometry

    Jun 29, 2026Seungsang Yun, Hyunsoo Jang, Tai Hyoung Rhee +3Visual-Inertial OdometryCross-Modal Feature Matching

    Dept. of Mechanical Engineering, Seoul National University (SNU), Seoul, S. Korea

  18. Observability and Consistency Analysis for Visual-Inertial Navigation with Anchored Feature Parameterizations

    Jun 17, 2026Mitchell Cohen, Vassili Korotkine, James Richard ForbesVisual-Inertial Odometry

    Department of Mechanical Engineering, McGill University, Montreal, QC H3A 0C3, Canada

  19. Hardware- and Vision-in-the-Loop Validation of Deep Monocular Pose Estimation for Autonomous Maritime UAV Flight

    Jun 17, 2026Maneesha Wickramasuriya, Beomyeol Yu, Jaden Shin +3Robotics SimulationUAV Navigation

    Mechanical and Aerospace Engineering, George Washington University, Washington, DC 20052

  20. Dual Quaternion-Based Unscented Kalman Filter with Visual Inertial Odometry for Navigation in GPS-Denied Environments

    Jun 8, 2026Mohamed Khalifa, Hashim A. HashimKalman FilteringInertial Odometry

    Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, K1S-5B6, Canada

  21. Uncertainty-Aware Adaptive Sensor Fusion for Autonomous Navigation

    Jun 3, 2026Simegnew Yihunie Alaba, Yuichi MotaiUnscented Kalman FilteringVisual-Inertial Odometry

    Department of Electrical and Computer Engineering, College of Engineering, Virginia Commonwealth University, Richmond, VA 23220, USA

  22. BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation

    May 30, 2026Mohit Singh, Shehryar Khattak, Ashish Goel +3Robot NavigationVisual Odometry

    Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA. · Autonomous Robots Lab at the Norwegian University of Science and Technology, Trondheim, Norway

  23. Minimalist Visual Inertial Odometry

    May 19, 2026Francesco Pasti, Jeremy Klotz, Nicola Bellotto +1Inertial OdometryMobile Robotics

    Department of Information Engineering, University of Padua, Padua, Italy · Computer Science Department, Columbia University, New York, NY, USA

  24. MUSE: Multimodal Uncertainty Quantification of State Estimation

    May 17, 2026Minkyung Kim, Henry Che, Bhargav Chandaka +6Uncertainty QuantificationVisual-Inertial Odometry

    Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Champaign, IL 61801, USA · Siebel School of Computing and Data Science, University of Illinois Urbana-Champaign, Champaign, IL 61801, USA · Department of Electrical Engineering, University of South Carolina, Columbia, SC 29208, USA

  25. Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model

    May 17, 2026Yuantai Zhang, Jiaqi Yang, Huajian Zeng +5Visual-Inertial Odometry

    MBZUAI · HKUST (GZ) · Zhejiang University

  26. Event-based SLAM Benchmark for High-Speed Maneuvers

    Apr 27, 2026Sheng Zhong, Junkai Niu, Guillermo Gallego +7Event-Based VisionVisual Odometry

    Neuromorphic Automation and Intelligence Lab (NAIL) at the School of Artificial Intelligence and Robotics, Hunan University, Changsha, China · Department of Electrical Engineering and Computer Science, Technische Universität Berlin, the Science of Intelligence Excellence Cluster, the Robotics Institute Germany and the Einstein Center Digital Future, Berlin, Germany · College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China +1

  27. CT-VIR: Continuous-Time Visual-Inertial-Ranging Fusion for Indoor Localization with Sparse Anchors

    Apr 16, 2026Yu-An Liu, Li ZhangWireless LocalizationVisual-Inertial Odometry

    School of Mathematics, Hefei University of Technology, Hefei 230031, China

  28. Online Adaptation of Visual Odometry Frontends with Image-Conditioned Reinforcement Learning

    Mar 23, 2026Simone Nascivera, Leonard Bauersfeld, Jeff Delaune +1Test-Time AdaptationVisual Odometry

    Robotics and Perception Group, University of Zurich, Switzerland. · Jet Propulsion Laboratory, California Institute of Technology, USA.

  29. Quantifying Motion Excitation for Metric Scale Observability in Monocular Visual-Inertial Odometry

    Mar 22, 2026Hadush Hailu, Bruk Gebregziabher, Siddhartha Gudipudi +1Inertial OdometryVisual-Inertial Odometry

    Computer Science, Maharishi International University, Iowa, USA · Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia · Computer Science, Iowa State University, Iowa, USA +1

  30. MDE-VIO: Enhancing Visual-Inertial Odometry Using Learned Depth Priors

    Feb 11, 2026Arda Alniak, Sinan Kalkan, Mustafa Mert Ankarali +2Inertial OdometryVisual-Inertial Odometry

    Dept. of Electrical & Electronics Engineering · Center for Image Analysis (OGAM), METU, Ankara, Türkiye · Dept. of Computer Engineering