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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/nqjgfhif2ncrv3qim0tm3cnm2
- Original: https://arxiv.org/abs/2610.25988

## Summary

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.