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TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer
Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and computing (SWaP-C) constraints, where visual sensors and LiDARs exceed payload limits, optical flow degrades in low-texture scenes, and inertial-only state estimation is susceptible to acc
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