Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localization
Dennis Melamed,Karnik Ram,Vivek Roy,Kris Kitani,Dennis Melamed,Karnik Ram,Vivek Roy,Kris Kitani
Indoor localization systems often fuse inertial odometry with map information via hand-defined methods to reduce odometry drift, but such methods are sensitive to noise and struggle to generalize across odometry sources. To address the robustness problem in map utilization, we propose a data-driven prior on possible user locations in a map by combining learned spatial map embeddings and temporal o...
