Visual-Inertial Odometry

Also known as VIO

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Overview

Visual-inertial odometry (VIO) estimates a moving camera’s position and orientation by combining visual constraints with high-rate inertial measurements, enabling metric navigation when GPS is unavailable. Systems commonly use filtering methods such as MSCKF and error-state Kalman filters, or sliding-window and factor-graph optimization with IMU preintegration, feature tracking, and careful initialization. Newer approaches add learned feature tracking or depth, uncertainty-aware weighting, and continuous-time fusion; they are evaluated on benchmarks such as EuRoC, TUM-VI, and KITTI, as well as in specialized environments. A central challenge is improving robustness to poor lighting, dynamic scenes, sensor outages, and degenerate motion while maintaining observability, estimator consistency, and real-time operation on embedded hardware.

Latest papers

CardsList

57 papers11 papers in the last four weeks, level with the four weeks before. 0.1% of all new papers.

  1. Metric Scale for Insta360 Structure-from-Motion from the Camera's Embedded IMU

    Oct 26, 2026Davide Cuttini, Diego Di Tommaso, Alessio Antoniacomi +1Structure from MotionVisual-Inertial Odometry

    Over The Reality

  2. Tight Learned Event-Inertial Odometry (TLEIO): a Transformer-Based Architecture for End-to-End Motion from Event Streams

    Oct 23, 2026Matteo Cascone, David Jensen, Alessandro Pirini +4Inertial OdometryVisual-Inertial Odometry

    ETH Zürich · Google

  3. AnchorFlow-VIO: Fixed-Template Monocular Visual-Inertial Odometry on LaMAria

    Oct 19, 2026Sudhir Pratap YadavVisual-Inertial Odometry

  4. Visual-Inertial Odometry for Ground Robots with Dynamic Camera-IMU Extrinsic Calibration

    Oct 18, 2026Bo DongVisual-Inertial OdometryCamera Calibration

    Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China

  5. F-LIVO: A Feature-Level Geometric Measurement Framework for LiDAR-Inertial-Visual Odometry

    Oct 16, 2026Xinye Dai, Yapeng Wang, Shujie Zhou +6Camera-LiDAR FusionAdaptive Lidar-Inertial Odometry

    The authors are with the GNSS Center, Wuhan University, Wuhan 430079, China.

  6. PASS: A Trustworthy Precision Approach Simulation System for CAT III Integrity Algorithm Development

    Oct 16, 2026Lang Zhu, Xin Zhang, Yulong Sun +4Synthetic Data Generation for RoboticsRobot Localization

    Shanghai Jiao Tong University, Shanghai, China · Flight Automatic Control Research Institute, Xi'an, China

  7. Smart Fusion for Adaptive Visual-IMU Weighting in cuVSLAM Sparse Bundle Adjustment

    Oct 14, 2026Wonju Lee, Dara Molloy, Abhilash Nand Kumar +5Visual-Inertial SLAMVisual-Inertial Odometry

    Analog Devices Inc. · NVIDIA

  8. FoundationVIO: Enforcing Metric Scale in Feed-forward Visual-Inertial Odometry

    Oct 10, 2026Jin Rhee, Yuhao Zhang, Frank Dellaert +1Visual-Inertial SLAMVisual-Inertial Odometry

    Oxford Robotics Institute, University of Oxford, U.K. · School of Interactive Computing, Georgia Institute of Technology, USA

  9. HexVIO: Towards All-Day Stereo-Inertial Tracking Through Commodity DSPs

    Oct 2, 2026Patrick Wolf, Mateo de Mayo, Daniel CremersVisual-Inertial Odometry

    Technical University of Munich, Munich, Germany · Munich Center for Machine Learning, Munich, Germany

  10. 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

  11. 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

  12. 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

  13. SeA-RVINS: Semantic-Aware Tightly Coupled RTK-Visual-Inertial System with Correlation-Preserving Robust Estimation for Urban Navigation

    Sep 25, 2026Wang Hu, Bo WuRobot LocalizationVisual-Inertial Odometry

    UC Riverside

  14. VkVIO: Cross-platform GPU Acceleration for Visual-Inertial Odometry with Vulkan

    Sep 24, 2026Ole Hoffmann, Mateo de Mayo, Daniel CremersVisual-Inertial OdometryGPU Acceleration

    Technical University of Munich, Munich, Germany · Munich Center for Machine Learning, Munich, Germany

  15. TinyCVIO: A Constellation-Aided Visual-Inertial Odometry System for Nanodrones

    Sep 24, 2026Derin Ozturk, Kaan Akan, Irwin Wang +1Visual-Inertial OdometryUAV Navigation

    Department of ECE, Cornell University, Ithaca, NY, USA

  16. 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.

  17. Robust Structureless Monocular Visual Inertial Initialization Exploiting Line Features and Vanishing Points

    Sep 18, 2026Junwan Choi, Woongrae Jo, Dong-Uk Seo +2Visual-Inertial Odometry

    School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, 34141, Republic of Korea

  18. 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.

  19. 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

  20. When Do Learned Priors Help Visual Inertial Estimation? A Controlled Study of Prior Integration, Calibration, Initialization, and Backend Consistency

    Sep 12, 2026Jinchang Zhang, Guoyu LuVisual-Inertial OdometryMultimodal Sensor Fusion

    Department of Computer Science, Indiana University, Bloomington, IN 47405, USA.

  21. 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

  22. MAC-I2^2: Learned Metrics-Aware Covariance for Robust Visual-Inertial Fusion in Initialization and Calibration

    Sep 7, 2026Xiang Fei, Yuheng Qiu, Can Xu +5Multimodal Sensor FusionCovariance Estimation

    The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213 USA. · University of Toronto Institute for Aerospace Studies (UTIAS), University of Toronto, 4925 Dufferin St, Toronto, ON M3H 5T6, Canada. · Mohamed bin Zayed University of Artificial Intelligence (MBZUAI), Masdar City, Abu Dhabi, UAE.

  23. NSFlow: End-to-End Differentiable Neuro-Symbolic Optical Flow for Visual Odometry

    Sep 5, 2026Yicheng Lin, Zhipeng Fei, Yuxiu Xu +3Optical FlowVisual Odometry

    Guangzhou Purpleriver Electronic Technology Co., Ltd, Guangzhou, China · State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

  24. KLTNet: Learning Sparse Feature Tracking for Robust and Accurate Monocular Visual-Inertial Odometry

    Aug 25, 2026Renbiao Jin, Danping Zou, Wenxian YuPoint TrackingVisual-Inertial Odometry

    Shanghai Jiao Tong University, Shanghai 200240, China

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

    Aug 13, 2026Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh +1Trajectory OptimizationB-Spline Trajectory Representation

  26. 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

  27. 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

  28. 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.

  29. 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

  30. 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