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SSIO: A Self-Supervised Inertial Odometry Method Without Ground-Truth Trajectories

The paper proposes a self-supervised inertial odometry training scheme called SSIO, in which a myopic teacher independently integrates the IMU within each short window to supervise the student model, an approach called integration self-supervision. Although the student is supervised only by short-window velocity changes, it learns to predict velocity directly and does so more accurately than its integration teacher. Pose graph distillation is then used to further refine the model with a cross-window consistency objective.

Part of the event: SSIO Self-Supervised Inertial Odometry Paper Released

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