Related papers: CKANIO: Learnable Chebyshev Polynomials for Inerti…

Kolmogorov-Arnold Networks (KANs) relocate learnable nonlinearities from nodes to edges, demonstrating remarkable capabilities in scientific machine learning and interpretable modeling. However, current KAN implementations suffer from…

This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…

Camera-IMU (Inertial Measurement Unit) sensor fusion has been extensively studied in recent decades. Numerous observability analysis and fusion schemes for motion estimation with self-calibration have been presented. However, it has been…

This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…

Neural operators have emerged as powerful deep learning frameworks for approximating solution operators of parameterized partial differential equations (PDE). However, current methods predominantly rely on multilayer perceptrons (MLPs) for…

This paper presents an experimental study of Kolmogorov-Arnold Networks (KANs) applied to computer vision tasks, particularly image classification. KANs introduce learnable activation functions on edges, offering flexible non-linear…

The Convolutional Neural Networks (CNNs) have been the dominant and effective approach for general computer vision tasks. Recently, Kolmogorov-Arnold neural networks (KANs), based on the Kolmogorov-Arnold representation theorem, have shown…

A data-driven framework is developed to represent chaotic dynamics on an inertial manifold (IM), and applied to solutions of the Kuramoto-Sivashinsky equation. A hybrid method combining linear and nonlinear (neural-network) dimension…

In this paper we present an on-manifold sequence-to-sequence learning approach to motion estimation using visual and inertial sensors. It is to the best of our knowledge the first end-to-end trainable method for visual-inertial odometry…

Pedestrian inertial localization is key for mobile and IoT services because it provides infrastructure-free positioning. Yet most learning-based methods depend on fixed sliding-window integration, struggle to adapt to diverse motion scales…

To overcome the limitation of existing indoor odometry technologies which often cannot simultaneously meet requirements for accuracy cost-effectiveness, and robustness-this paper proposes a novel magnetometer array-aided inertial odometry…

Motion estimation by fusing data from at least a camera and an Inertial Measurement Unit (IMU) enables many applications in robotics. However, among the multitude of Visual Inertial Odometry (VIO) methods, few efficiently estimate device…

In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…

Strapdown inertial navigation systems are sensitive to the quality of the data provided by the accelerometer and gyroscope. Low-grade IMUs in handheld smart-devices pose a problem for inertial odometry on these devices. We propose a scheme…

Radar-Inertial Odometry (RIO) has emerged as a robust alternative to vision- and LiDAR-based odometry in challenging conditions such as low light, fog, featureless environments, or in adverse weather. However, many existing RIO approaches…

We introduce KANICE (Kolmogorov-Arnold Networks with Interactive Convolutional Elements), a novel neural architecture that combines Convolutional Neural Networks (CNNs) with Kolmogorov-Arnold Network (KAN) principles. KANICE integrates…

Uncovering physical laws from experimental data is a fundamental goal of theoretical physics. In this work, we apply the spline-based, interpretable Kolmogorov-Arnold Network (KAN) to explore the algebraic structure underlying the baryon…

Online extrinsic calibration is crucial for building "power-on-and-go" moving platforms, like robots and AR devices. However, blindly performing online calibration for unobservable parameter may lead to unpredictable results. In the…

The acquisition of attitude, velocity, and position is an essential task in the field of inertial navigation, achieved by integrating the measurements from inertial sensors. Recently, the ultra-precision inertial navigation computation has…

This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper…