SOURCE-LINKED INTELLIGENCE

TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and computing (SWaP-C) constraints, where visual sensors and LiDARs exceed payload limits, optical flow degrades in low-texture scenes, and inertial-only state estimation is susceptible to accumulated drift. While multi-zone time-of-flight (ToF) arrays provide a lightweight metric complement, 6-DoF estimation from merely 384 ranges per frame is challenged by invalid returns, anisotropic observability, and temporal computational scaling. We propose TIO-FORMER, a camera-free, optical-flow-

Read original source ↗ Open in workspace

recordType

paper

region

Global