LGC-Net: A Lightweight Gyroscope Calibration Network for Efficient Attitude Estimation

• URL: http://arxiv.org/abs/2209.08816v1
• Date: Mon, 19 Sep 2022 08:03:03 GMT
• Title: LGC-Net: A Lightweight Gyroscope Calibration Network for Efficient Attitude Estimation
• Authors: Yaohua Liu, Wei Liang and Jinqiang Cui
• Abstract summary: We present a calibration neural network model for denoising low-cost microelectromechanical system (MEMS) gyroscope and estimating the attitude of a robot in real-time. Key idea is extracting local and global features from the time window of inertial measurement units (IMU) measurements to regress the output compensation components for the gyroscope dynamically. The proposed algorithm is evaluated in the EuRoC and TUM-VI datasets and achieves state-of-the-art on the (unseen) test sequences with a more lightweight model structure.
• Score: 10.468378902106613
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents a lightweight, efficient calibration neural network model for denoising low-cost microelectromechanical system (MEMS) gyroscope and estimating the attitude of a robot in real-time. The key idea is extracting local and global features from the time window of inertial measurement units (IMU) measurements to regress the output compensation components for the gyroscope dynamically. Following a carefully deduced mathematical calibration model, LGC-Net leverages the depthwise separable convolution to capture the sectional features and reduce the network model parameters. The Large kernel attention is designed to learn the long-range dependencies and feature representation better. The proposed algorithm is evaluated in the EuRoC and TUM-VI datasets and achieves state-of-the-art on the (unseen) test sequences with a more lightweight model structure. The estimated orientation with our LGC-Net is comparable with the top-ranked visual-inertial odometry systems, although it does not adopt vision sensors. We make our method open-source at: https://github.com/huazai665/LGC-Net

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