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RoNIN: Robust Neural Inertial Navigation in the Wild: Benchmark, Evaluations, and New Methods

arXiv 1905.12853 ↗First posted 30 May 2019cs.CV cs.ROcited by 72

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Abstract (arXiv)

This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper presents 1) a new benchmark containing more than 40 hours of IMU sensor data from 100 human subjects with ground-truth 3D trajectories under natural human motions; 2) novel neural inertial navigation architectures, making significant improvements for challenging motion cases; and 3) qualitative and quantitative evaluations of the competing methods over three inertial navigation benchmarks. We will share the code and data to promote further research.

Key facts. Cited by 72 papers in the map (data through 7 Oct 2026). First posted on arXiv 30 May 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 9; 2022: 9; 2023: 17; 2024: 8; 2025: 18; 2026: 11.

72 papers.

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  1. 2021GLAMR: Global Occlusion-Aware Human Mesh Recovery with Dynamic Camerascited by 151
  2. 2023Visibility Aware Human-Object Interaction Tracking from Single RGB Cameracited by 58
  3. 2023EgoDistill: Egocentric Head Motion Distillation for Efficient Video Understandingcited by 32
  4. 2023Dynamic Inertial Poser (DynaIP): Part-Based Motion Dynamics Learning for Enhanced Human Pose Estimation with Sparse Inertial Sensorscited by 29
  5. 2022Machine Learning for Microcontroller-Class Hardware: A Reviewcited by 28
  6. 2021IDOL: Inertial Deep Orientation-Estimation and Localizationcited by 26
  7. 2023Deep Learning for Inertial Positioning: A Surveycited by 20
  8. 2024Hierarchical State Space Models for Continuous Sequence-to-Sequence Modelingcited by 15
  9. 2021RIO: Rotation-equivariance supervised learning of robust inertial odometrycited by 14
  10. 2022Neural Inertial Localizationcited by 13
  11. 2021CTIN: Robust Contextual Transformer Network for Inertial Navigationcited by 12
  12. 2022A Hybrid Model and Learning-Based Adaptive Navigation Filtercited by 12
38 more
  1. 2021IMU Data Processing For Inertial Aided Navigation: A Recurrent Neural Network Based Approachcited by 8
  2. 2021Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environmentscited by 8
  3. 2024EqNIO: Subequivariant Neural Inertial Odometrycited by 8
  4. 2023AirIMU: Learning Uncertainty Propagation for Inertial Odometrycited by 6
  5. 2023Radarize: Enhancing Radar SLAM with Generalizable Doppler-Based Odometrycited by 6
  6. 2025AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observabilitycited by 6
  7. 2021VIPose: Real-time Visual-Inertial 6D Object Pose Trackingcited by 5
  8. 2022Deep Learning for Inertial Sensor Alignmentcited by 5
  9. 2023Recent Advancements in Deep Learning Applications and Methods for Autonomous Navigation: A Comprehensive Reviewcited by 5
  10. 2021Walk2Map: Extracting Floor Plans from Indoor Walk Trajectoriescited by 4
  11. 2022Learned Monocular Depth Priors in Visual-Inertial Initializationcited by 4
  12. 2022Adaptive Attitude Estimation Using a Hybrid Model-Learning Approachcited by 4
  13. 2023Generalizable End-to-End Deep Learning Frameworks for Real-Time Attitude Estimation Using 6DoF Inertial Measurement Unitscited by 4
  14. 2025Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learningcited by 4
  15. 2025EgoAdapt: Adaptive Multisensory Distillation and Policy Learning for Efficient Egocentric Perceptioncited by 4
  16. 2022LGC-Net: A Lightweight Gyroscope Calibration Network for Efficient Attitude Estimationcited by 3
  17. 2023SM/VIO: Robust Underwater State Estimation Switching Between Model-based and Visual Inertial Odometrycited by 3
  18. 2023Target-agnostic Source-free Domain Adaptation for Regression Taskscited by 3
  19. 2024Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Networkcited by 3
  20. 2024RetailOpt: Opt-In, Easy-to-Deploy Trajectory Estimation from Smartphone Motion Data and Retail Facility Informationcited by 3
  21. 2024Suite-IN: Aggregating Motion Features from Apple Suite for Robust Inertial Navigationcited by 3
  22. 2025Learning IMU Bias with Diffusion Modelcited by 3
  23. 2025BaroPoser: Real-time Human Motion Tracking from IMUs and Barometers in Everyday Devicescited by 3
  24. 2022Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localizationcited by 2
  25. 2023FusionLoc: Camera-2D LiDAR Fusion Using Multi-Head Self-Attention for End-to-End Serving Robot Relocalizationcited by 2
  26. 2023Physics-Informed Data Denoising for Real-Life Sensing Systemscited by 2
  27. 2023Wavelet Dynamic Selection Network for Inertial Sensor Signal Enhancementcited by 2
  28. 2024Multiple and Gyro-Free Inertial Datasetscited by 2
  29. 2025On Neural Inertial Classification Networks for Pedestrian Activity Recognitioncited by 2
  30. 2025Egocentric Action-aware Inertial Localization in Point Clouds with Vision-Language Guidancecited by 2
  31. 2021Deep Inertial Navigation using Continuous Domain Adaptation and Optimal Transportcited by 1
  32. 2023RIOT: Recursive Inertial Odometry Transformer for Localisation from Low-Cost IMU Measurementscited by 1
  33. 2023Mobility-Induced Graph Learning for WiFi Positioningcited by 1
  34. 2024NeurIT: Pushing the Limit of Neural Inertial Tracking for Indoor Robotic IoTcited by 1
  35. 2025A Plug-and-Play Learning-based IMU Bias Factor for Robust Visual-Inertial Odometrycited by 1
  36. 2026PiDR: Physics-Informed Inertial Dead Reckoning for Autonomous Platformscited by 1
  37. 2026Physical Self-Supervised Learning: IMU Sensing without Manual Labelscited by 1
  38. 2022SmartFPS: Neural Network based Wireless-inertial fusion positioning systemcited by 0

50 most cited of 72 All 72 (JSON)