Faster Deep Inertial Pose Estimation with Six Inertial Sensors

Abstract

We propose a novel pose estimation method that can predict the full-body pose from six inertial sensors worn by the user. This method solves problems encountered in vision, such as occlusion or expensive deployment. We address several complex challenges. First, we use the SRU network structure instead of the bidirectional RNN structure used in previous work to reduce the computational effort of the model without losing its accuracy. Second, our model does not require joint position supervision to achieve the best results of the previous work. Finally, since sensor data tend to be noisy, we use SmoothLoss to reduce the impact of inertial sensors on pose estimation. The faster deep inertial poser model proposed in this paper can perform online inference at 90 FPS on the CPU. We reduce the impact of each error by more than 10% and increased the inference speed by 250% compared to the previous state of the art.

Generalizable End-to-End Deep Learning Frameworks for Real-Time Attitude Estimation Using 6dof Inertial Measurement Units}

“…In Table 1, we summarized some related works in the navigation field using deep learning. [49] 2015/12 Vision Relocalization VINet [50] 2017/02 Vision + Inertial Visual Inertial Odometry DeepVO [51] 2017/05 Vision Visual Odometry VidLoc [52] 2017/07 Vision Relocalization IONet [40] 2018/02 Inertial Only Inertial Odometry UnDeepVO [53] 2018/05 Vision Visual Odometry VLocNet [54] 2018/05 Vision Relocalization, Odometry RIDI [55] 2018/09 Inertial Only Inertial Odometry SIDA [56] 2019/01 Inertial Only Domain Adaptation VIOLearner [57] 2019/04 Vision + Inertial Visual Inertial Odometry RINS-W [58] 2019/05 Inertial Only Inertial Odometry SelectFusion [59] 2019/06 Vision + Inertial + LIDAR VIO and sensor Fusion LO-Net [60] 2019/06 LIDAR LIDAR Odometry L3-Net [61] 2019/06 LIDAR LIDAR Odometry Lima et al [62] 2019/8 Inertial Inertial Odometry DeepVIO [63] 2019/11 Vision+Inertial Visual Inertial Odometry OriNet [35] 2020/4 Inertial Inertial Odometry Sorg [64] 2020/4 Inertial Pose Estimation GALNet [65] 2020/5 Inertial, Dynamic and Kinematic Autonomous Cars PDRNet [66] 2021/3 Inertial Pedestrian Dead Reckoning Kim et al [67] 2021/4 Inertial Inertial Odometry RIANN [34] 2021/5 Inertial Attitude Estimation CTIN [68] 2022/6 Inertial Inertial Odometry Xia et al [69] 2022/8 Inertial Human Pose Estimation Brotchie et al [70] 2022/11 Inertial Attitude Estimation…”