Preprint
Sep 2026
TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer
This work proposes TIO-FORMER, a camera-free, optical-flow-free, and mapless range-inertial odometry framework driven by an IMU and an ultra-lightweight payload of six orthogonal 8 x 8 ToF arrays, demonstrating that sparse range sensing provides practical geometric anchoring for resource-constrained micro-aerial robots...
Yang Liu, Yi-Fan He, Wen-Hao Zhao et al.
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