Yuheng Qiu
Description: AirIMU: Learning Uncertainty Propagation for Inertial Odometry
deep learning (1273) imu (60) covariance (2) airimu (1) pose graph optimization (1)
Accurate uncertainty estimation for inertial odometry is the foundation to achieve optimal fusion in Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a simplified linearized IMU noise model and thus usually encounter difficulties in modeling non-deterministic errors arising from environmental disturbances and mechanical defec
Yuheng Qiu