Self-Localization and Odometry Table of Contents Self-Localization and Odometry Table of Contents Introduction Related Work Inertial Navigation Systems Deep Learning Approaches Background Inertial Navigation Principles \end{bmatrix} \end{bmatrix} \end{bmatrix} \end{bmatrix} 6-DoF relative pose representaion 6 DoF Inertial Odometry Neural Network Network Architecture Error Metrices Quaternion Inner Product Quaternion Multiplicative Error Quaternion Shortest Geodesic Distance Loss Function Experiment Dataset Training Evaluation Simulation Results Conclusion Introduction Self-localization is one of the main challenges in the application of autonomous systems.