Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fully Differentiable and Interpretable Model for VIO with 4 Trainable
  Parameters   Monocular visual-inertial odometry (VIO) is a critical problem in robotics
and autonomous driving. Traditional methods solve this problem based on
filtering or optimization. While being fully interpretable, they rely on manual
interference and empirical parameter tuning. On the other hand, learning-based
approaches allow for end-to-end training but require a large number of training
data to learn millions of parameters. However, the non-interpretable and heavy
models hinder the generalization ability. In this paper, we propose a fully
differentiable, interpretable, and lightweight monocular VIO model that
contains only 4 trainable parameters. Specifically, we first adopt Unscented
Kalman Filter as a differentiable layer to predict the pitch and roll, where
the covariance matrices of noise are learned to filter out the noise of the IMU
raw data. Second, the refined pitch and roll are adopted to retrieve a
gravity-aligned BEV image of each frame using differentiable camera projection.
Finally, a differentiable pose estimator is utilized to estimate the remaining
4 DoF poses between the BEV frames. Our method allows for learning the
covariance matrices end-to-end supervised by the pose estimation loss,
demonstrating superior performance to empirical baselines. Experimental results
on synthetic and real-world datasets demonstrate that our simple approach is
competitive with state-of-the-art methods and generalizes well on unseen
scenes.

17
The categories of this paper are: q-fin
11
The categories of this paper are: hep-lat
25
The categories of this paper are: patt-sol
8
The categories of this paper are: hep-ex
26
The categories of this paper are: bayes-an
31
The categories of this paper are: ao-sci
16
The categories of this paper are: stat
5
The categories of this paper are: gr-qc
7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin
22
The categories of this paper are: chao-dyn
3
The categories of this paper are: physics
32
The categories of this paper are: atom-ph
4
The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph
12
The categories of this paper are: nucl-th