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Real-Time Thermal-Inertial Odometry on Embedded Hardware for High-Speed GPS-Denied Flight

Austin Stone,Mark E. Petersen,Cammy K. Peterson

Published 2026 in Unknown venue

ABSTRACT

We present a real-time monocular thermal-inertial odometry system designed for high-velocity, GPS-denied flight on embedded hardware. The system fuses measurements from a FLIR Boson+ 640 longwave infrared camera, a high-rate IMU, a laser range finder, a barometer, and a magnetometer within a fixed-lag factor graph. To sustain reliable feature tracks under motion blur, low contrast, and rapid viewpoint changes, we employ a lightweight thermal-optimized front-end with multi-stage feature filtering. Laser range finder measurements provide per-feature depth priors that stabilize scale during weakly observable motion. High-rate inertial data is first pre-filtered using a Chebyshev Type II infinite impulse response (IIR) filter and then preintegrated, improving robustness to airframe vibrations during aggressive maneuvers. To address barometric altitude errors induced at high airspeeds, we train an uncertainty-aware gated recurrent unit (GRU) network that models the temporal dynamics of static pressure distortion, outperforming polynomial and multi-layer perceptron (MLP) baselines. Integrated on an NVIDIA Jetson Xavier NX, the complete system supports closed-loop quadrotor flight at 30 m/s with drift under 2% over kilometer-scale trajectories. These contributions expand the operational envelope of thermal-inertial navigation, enabling reliable high-speed flight in visually degraded and GPS-denied environments.

PUBLICATION RECORD

  • Publication year

    2026

  • Venue

    Unknown venue

  • Publication date

    2026-03-02

  • Fields of study

    Computer Science, Engineering, Environmental Science

  • Identifiers
    arXiv 2603.02114
  • External record

    Open on Semantic Scholar

  • Source metadata

    Semantic Scholar

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