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About this paper
Yu Wang, Haoyao Chen, Yufeng Liu, Shiwu Zhang
ETIO estimates motion in GNSS-denied settings by tracking thermal object boundaries rather than texture and combining edge observations with inertial measurements in a sliding-window estimator. Its tracker switches between distance-transform matching and standard KLT using edge-count changes and IMU rotation. On a 73.2 m smoke-room sequence, reported drift was 0.211 m versus ROTIO’s 1.035 m; no ground truth was available.
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