{"id":"https://openalex.org/W4411446460","doi":"https://doi.org/10.1109/lra.2025.3581130","title":"AirIO: Learning Inertial Odometry With Enhanced IMU Feature Observability","display_name":"AirIO: Learning Inertial Odometry With Enhanced IMU Feature Observability","publication_year":2025,"publication_date":"2025-06-19","ids":{"openalex":"https://openalex.org/W4411446460","doi":"https://doi.org/10.1109/lra.2025.3581130"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3581130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3581130","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058419676","display_name":"Yuheng Qiu","orcid":"https://orcid.org/0000-0003-2966-8103"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuheng Qiu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2966-8103","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Can Xu","orcid":"https://orcid.org/0009-0007-6056-7999"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Can Xu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0009-0007-6056-7999","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yutian Chen","orcid":"https://orcid.org/0000-0001-8008-9014"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yutian Chen","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8008-9014","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023314182","display_name":"Shibo Zhao","orcid":"https://orcid.org/0000-0003-1801-8156"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shibo Zhao","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014226370","display_name":"Junyi Geng","orcid":"https://orcid.org/0000-0002-6494-6810"},"institutions":[{"id":"https://openalex.org/I130769515","display_name":"Pennsylvania State University","ror":"https://ror.org/04p491231","country_code":"US","type":"education","lineage":["https://openalex.org/I130769515"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junyi Geng","raw_affiliation_strings":["Department of Aerospace Engineering, Pennsylvania State University, University Park, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6494-6810","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Pennsylvania State University, University Park, PA, USA","institution_ids":["https://openalex.org/I130769515"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8373-4688","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":17.9582,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.98788409,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"10","issue":"9","first_page":"9368","last_page":"9375"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.8964451551437378},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8421458005905151},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8404842615127563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6908785104751587},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6828534603118896},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5991592407226562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5751110315322876},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5424140691757202},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13768082857131958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11063677072525024},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08508694171905518},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07488775253295898}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8964451551437378},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8421458005905151},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8404842615127563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6908785104751587},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6828534603118896},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5991592407226562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5751110315322876},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5424140691757202},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13768082857131958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11063677072525024},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08508694171905518},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07488775253295898},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3581130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3581130","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2214788824","https://openalex.org/W2396274919","https://openalex.org/W2745859992","https://openalex.org/W2962994355","https://openalex.org/W2963423603","https://openalex.org/W2998677710","https://openalex.org/W3003050085","https://openalex.org/W3006845541","https://openalex.org/W3038975720","https://openalex.org/W3090160518","https://openalex.org/W3132498697","https://openalex.org/W3159400523","https://openalex.org/W3173631815","https://openalex.org/W3199037603","https://openalex.org/W4225919226","https://openalex.org/W4285102332","https://openalex.org/W4285102487","https://openalex.org/W4310297847","https://openalex.org/W4312353456","https://openalex.org/W4312720728","https://openalex.org/W4323065891","https://openalex.org/W4376112099","https://openalex.org/W4389666365","https://openalex.org/W4389667575","https://openalex.org/W4392207966","https://openalex.org/W4399801467","https://openalex.org/W4402727750","https://openalex.org/W4403721801","https://openalex.org/W6803050430","https://openalex.org/W6857809372"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2382856674"],"abstract_inverted_index":{"Inertial":[0,5],"odometry":[1],"(IO)":[2],"using":[3],"only":[4],"Measurement":[6],"Units":[7],"(IMUs)":[8],"offers":[9],"a":[10,82,111],"lightweight":[11],"and":[12,37,117],"cost-effective":[13],"solution":[14],"for":[15,155],"Unmanned":[16],"Aerial":[17],"Vehicle":[18],"(UAV)":[19],"applications,":[20],"yet":[21],"existing":[22],"learning-based":[23],"IO":[24],"models":[25],"often":[26],"fail":[27],"to":[28,30,33,59,149],"generalize":[29],"UAVs":[31],"due":[32],"the":[34,51,63,72,97],"highly":[35],"dynamic":[36],"non-linear-flight":[38],"patterns":[39],"that":[40,50],"differ":[41],"from":[42],"pedestrian":[43],"motion.":[44],"In":[45],"this":[46],"work,":[47],"we":[48],"identify":[49],"conventional":[52],"practice":[53],"of":[54,65],"transforming":[55],"raw":[56],"IMU":[57,113],"data":[58],"global":[60],"coordinates":[61],"undermines":[62],"observability":[64],"critical":[66],"information":[67,95],"in":[68,86,101],"UAVs.":[69],"By":[70],"preserving":[71],"body-frame":[73],"representation,":[74],"our":[75,124,143],"method":[76,144],"achieves":[77],"substantial":[78],"performance":[79],"improvements,":[80],"with":[81,110],"66.7%":[83],"average":[84],"increase":[85],"accuracy":[87],"across":[88],"three":[89],"datasets.":[90],"Furthermore,":[91],"explicitly":[92],"encoding":[93],"attitude":[94],"into":[96],"motion":[98],"network":[99],"results":[100],"an":[102,118],"additional":[103],"23.8%":[104],"improvement":[105],"over":[106],"prior":[107],"results.":[108],"Combined":[109],"data-driven":[112],"correction":[114],"model":[115],"(AirIMU)":[116],"uncertainty-aware":[119],"Extended":[120],"Kalman":[121],"Filter":[122],"(EKF),":[123],"approach":[125],"ensures":[126],"robust":[127],"state":[128],"estimation":[129],"under":[130],"aggressive":[131],"UAV":[132,157],"maneuvers":[133],"without":[134],"relying":[135],"on":[136],"external":[137],"sensors":[138],"or":[139],"control":[140],"inputs.":[141],"Notably,":[142],"also":[145],"demonstrates":[146],"strong":[147],"generalizability":[148],"unseen":[150],"data,":[151],"underscoring":[152],"its":[153],"potential":[154],"real-world":[156],"applications.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
