arxivcs.RO2026-07-20
Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift
Yangyang Ning, Shu Liang, Quanbo Ge, Tianchen Deng, Yuhua Qi, Shenghai Yuan
Learning is increasingly introduced into visual-inertial odometry (VIO), ranging from learned feature front-ends to learning-dominant motion and geometry estimation. However, learning more of the pipeline does not necessarily improve robustness when deployment conditions differ f…