Neur IT: Pushing the Limit of Neural Inertial Tracking for Indoor Robotic IoT

摘要

Inertial tracking is vital for robotic IoT and has gained popularity thanks to the ubiquity of low-cost inertial measurement units and deep learning-powered tracking algorithms. Existing works, however, have not fully utilized IMU measurements, particularly magnetometers, nor have they maximized the potential of deep learning to achieve the desired accuracy. To address these limitations, we introduce <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">NeurIT</small>, which elevates tracking accuracy to a new level. <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">NeurIT</small> employs a Time-Frequency Block-recurrent Transformer (TF-BRT) at its core, combining both RNN and Transformer to learn representative features in both time and frequency domains. To fully utilize IMU information, we strategically employ body-frame differentiation of magnetometers, considerably reducing the tracking error. We implement <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">NeurIT</small> on a customized robotic platform and conduct evaluation in various indoor environments. Experimental results demonstrate that <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">NeurIT</small> achieves a mere 1-meter tracking error over a 300-meter distance. Notably, it significantly outperforms state-of-the-art baselines by 48.21% on unseen data. Moreover, <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">NeurIT</small> demonstrates robustness in large urban complexes and performs comparably to the visual-inertial approach (Tango Phone) in vision-favored conditions while surpassing it in feature-sparse settings. We believe <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">NeurIT</small> takes an important step forward toward practical neural inertial tracking for ubiquitous and scalable tracking of robotic things. <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">NeurIT</small> is open-sourced here: <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/aiot-lab/NeurIT</uri>.