Delta-Position Estimation-Based IMU Odometry: A Comparison of MLP and Kolmogorov-Arnold Networks

arXiv:2606.25454v1 Announce Type: new Abstract: In this study, the learning-based inertial odometry problem is investigated using raw IMU measurements obtained from the EuRoC MAV benchmark dataset. Instead of absolute position regression-a formulation that may lead to large constant errors-the models are trained to estimate the incremental displacement ({\Delta}p) over a fixed 50 ms sliding window, and the full trajectory is reconstructed through numerical integration. A standard Multi-Layer Per...