A conditional diffusion model that predicts IMU bias as a distribution conditioned on IMU readings improves position accuracy of inertial-only odometry on EuRoC compared with direct regression and random-walk baselines.
Imu data processing for inertial aided navigation: A recurrent neural network based approach,
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Learning IMU Bias with Diffusion Model
A conditional diffusion model that predicts IMU bias as a distribution conditioned on IMU readings improves position accuracy of inertial-only odometry on EuRoC compared with direct regression and random-walk baselines.