arxivcs.RO2026-07-22
DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency
Hao Qiao, Yan Wang, Jian Kuang, Xiaoji Niu
The training of learned inertial odometry depends on dense, high-precision position ground truth from motion capture, visual-inertial odometry or SLAM, which is costly and hard to acquire at scale. We propose DINS-IO, which learns inertial odometry directly from raw IMU streams w…