LBDU-VIO: Learned Bias Dynamics and Uncertainty for Visual-Inertial Odometry with Unreliable Vision

arXiv:2609.39125 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Comments: 12 pages, 8 figures

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

Terminology

• Accuracy — 12× in this paper · explained in 1 episode
• Covariance Propagation — 10× in this paper · explained in 2 episodes
• Benchmark — 8× in this paper · explained in 2 episodes
• Calibration — 5× in this paper · explained in 7 episodes
• Regularization — 4× in this paper · explained in 3 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Alignment — 3× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Systematic Bias — 1× in this paper · explained in 3 episodes

Sources

• AirIMU: Learning Uncertainty Propagation for Inertial Odometry
• A micro Lie theory for state estimation in robotics

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