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Author

Xiao-Ji Niu

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2026

Robust and Efficient CIR-Based Outlier Rejection for Tightly Coupled UWB–ODO–Inertial Navigation

The ultrawideband (UWB) technology has been proven to achieve continuous absolute positioning for wheeled robots. However, its accuracy is often degraded by non-line-of-sight (NLOS) propagation in complex environments. In this article, a channel impulse response (CIR)-based method is proposed to improve the NLOS outlie...

Xiao-Ji Niu, Shuang-Yan Liu, Zi-Hang Zhang et al. · 0 citations
Jul 2026

DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency

DINS-IO is proposed, which learns inertial odometry directly from raw IMU streams without position labels, and is pretrained self-supervised and fine-tuned with a small fraction of labels matches or surpasses fully supervised baselines.

Hao Qiao, Yan Wang, Jian Kuang et al. · 0 citations

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