Preprint Open access
NeuRIO: A Streaming Neural Estimator for Zero-Shot Sim-to-Real Multi-Robot Relative Inertial Odometry
We present NeuRIO, a streaming neural estimator for anchor-free 6-DoF relative inertial odometry using only identified inter-robot bearings, ranges, and IMU measurements. NeuRIO canonicalizes measurements into gravity-aligned coordinates, represents robots as nodes and mutual observations as factors, and uses attention …