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

arXiv:2609.17198 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-17

Code: https://github.com/Ly041021/TIO-Former

Terminology

• Transformer — 17× in this paper · explained in 2 episodes
• Accuracy — 11× in this paper · explained in 1 episode
• Optical Flow — 10× in this paper · explained in 2 episodes
• Robustness — 9× in this paper · explained in 5 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• KV cache — 5× in this paper · explained in 3 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Degeneracy — 3× in this paper · explained in 3 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• 1D CNN — 1× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Edge Deployment — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Guided attention — 1× in this paper · explained in 2 episodes
• Information Leakage — 1× in this paper · explained in 2 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Peak Resident Set Size — 1× in this paper

Sources

• AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability
• AI-IO: An Aerodynamics-Inspired Real-Time Inertial Odometry for Quadrotors
• Causal Transformer for Fusion and Pose Estimation in Deep Visual Inertial Odometry

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