arXiv:2601. 03040v2 Announce Type: replace-cross Abstract: A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information.
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arXiv:2607. 05663v1 Announce Type: cross Abstract: Accurate and robust localization is essential for autonomous mobility systems in real-world environments.
arXiv:2607. 05669v1 Announce Type: cross Abstract: Reliable localization in GNSS-denied environments remains a fundamental challenge for intelligent vehicles, as inertial navigation systems accumulate unbounded drift without external correction.
arXiv:2607. 18361v1 Announce Type: cross Abstract: Deep neural networks have become a promising approach for IMU-based sensing, but their scalability is fundamentally limited by costly labeled data and poor robustness to heterogeneous devices, placements, and users.
arXiv:2609.06195v1 Announce Type: new Abstract: This paper proposes a transferable Map of Dynamics (MoD) framework that generalizes to unknown environments using only egocentric 3D LiDAR point clouds...
The paper introduces a compact visual navigation system that decomposes the task into three analytically‑computed geometric interfaces and three small learned modules: an egress predictor, a navigation predictor, and an endpoint‑pinned residual diffusion generator. Only 0.58 M of the 23 M parameters are trained on 44 k frames, achieving competitive success rates and the lowest collision rate among evaluated methods across 6 060 point‑goal episodes in 60 environments. The design allows further parameter reduction by replacing the frozen image encoder with a 0.54 M MobileNetV2, supports zero‑shot deployment on a Jetson Orin Nano UGV, and enables transparent failure analysis under sensor corruption.
The paper introduces a minimalist visual-inertial odometry system that uses only four downward-facing photodiodes with optical Gabor masks and an IMU to estimate motion for differential-drive robots. By jointly optimizing mask parameters and a Temporal Convolutional Network in a physically-grounded simulator, the model decodes speed from the photodiode signals and combines it with IMU angular speed to produce a continuous planar trajectory. Experiments on a prototype robot across indoor and outdoor terrains show that the system closely follows reference trajectories without real-world fine-tuning.