TinyCVIO: A Constellation-Aided Visual-Inertial Odometry System for Nanodrones

arXiv:2609.30358 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 9 pages, 6 figures, 4 tables. Video: https://youtu.be/6hQNdIcjHJE

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

Terminology

• Core — 15× in this paper · explained in 2 episodes
• Accuracy — 13× in this paper · explained in 1 episode
• Calibration — 8× in this paper · explained in 7 episodes
• Alignment — 5× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes

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