Reproduce “TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer” on OpenResearch
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About this paper
Yang Liu, Yifan He, Wenhao Zhao, Xiangyu Mo, Yang Xu, Hao Wei, Mingze Ma, Huan Li and 4 more
TIO-Former estimates a nano-drone’s six-degree-of-freedom motion indoors without GPS, cameras, optical flow, or a map. It combines an IMU with six outward-facing 8×8 time-of-flight arrays, providing 384 ranges per frame, and uses reliability gating, cross-attention, and compressed history. On the test set, it reports 0.118 ± 0.007 m position ATE versus 0.259 m for Crazyflie Flow, a 54.4% reduction in open-loop position error.
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