MDE-VIO: Enhancing Visual-Inertial Odometry Using Learned Depth Priors

arXiv:2602.11323 · cs.CV · Submitted 2026-02-11 · Read on arXiv

cs.CV

Submitted: 2026-02-11

Updated: 2026-09-24

Comments: 6 pages, 2 figures, 3 tables. Submitted to ICIP 2026

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Consistency — 12× in this paper · explained in 3 episodes
Accuracy — 8× in this paper · explained in 1 episode
Edge Devices — 8× in this paper · explained in 2 episodes
Visual-Inertial Odometry — 8× in this paper
Transformer — 6× in this paper · explained in 2 episodes
Alignment — 4× in this paper · explained in 1 episode
Generalization — 4× in this paper · explained in 13 episodes
Adaptation — 3× in this paper · explained in 1 episode
Monocular Depth Estimation — 3× in this paper
Temporal consistency — 3× in this paper · explained in 2 episodes
Absolute Trajectory Error — 2× in this paper
Edge Deployment — 2× in this paper · explained in 2 episodes
Vision Transformer (ViT) — 2× in this paper · explained in 2 episodes
Benchmark — 1× in this paper · explained in 2 episodes
Core — 1× in this paper · explained in 2 episodes
Depth-Injected Feature Tracking — 1× in this paper
Domain Adaptation — 1× in this paper · explained in 5 episodes
Dynamic Adaptation — 1× in this paper · explained in 2 episodes
Dynamic Weighting — 1× in this paper · explained in 3 episodes
Foundation Model — 1× in this paper · explained in 3 episodes
Inertial Measurement Unit — 1× in this paper
MDE-assisted Depth Initialization — 1× in this paper
Online Adaptation — 1× in this paper · explained in 3 episodes
Optical Flow — 1× in this paper · explained in 2 episodes
Robustness — 1× in this paper · explained in 5 episodes

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