Author

Yan Wang

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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. · arXiv.org · 0 citations