Publikation: Improved State Propagation through AI-b...
Stammdaten
Titel: | Improved State Propagation through AI-based Pre-processing andDown-sampling of High-Speed Inertial Data |
Untertitel: | |
Kurzfassung: | We present a novel approach to improve 6 degree-of-freedom state propagation for unmanned aerial vehicles in a classical filter through pre-processing of high-speed inertial data with AI algorithms. We evaluate both an LSTM-based approach as well as a Transformer encoder architecture. Both algorithms take as input short sequences of fixed length N of high-rate inertial data provided by an inertial measurement unit (IMU) and are trained to predict in turn one pre-processed IMU sample that minimizes the state propagation error of a classical filter across M sequences. This setup allows us to provide sufficient temporal history to the networks for good performance while maintaining a high propagation rate of preprocessed IMU samples important for later deployment on real-world systems. In addition, our network architectures are formulated to directly accept input data at variable rates thus minimizing necessary data preprocessing. The results indicate that the LSTM based architecture outperforms the Transformer encoder architecture and significantly improves the propagation error even for long IMU propagation times. |
Schlagworte: |
Publikationstyp: | Beitrag in Proceedings (Autorenschaft) |
Erscheinungsdatum: | 12.07.2022 (Online) |
Erschienen in: |
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022)
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022)
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Titel der Serie: | - |
Bandnummer: | - |
Erstveröffentlichung: | Ja |
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Erscheinungsdatum: | 12.07.2022 |
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eISSN: | - |
DOI: | http://dx.doi.org/10.1109/ICRA46639.2022.9811989 |
Homepage: | https://ieeexplore.ieee.org/document/9811989 |
Open Access |
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AutorInnen
Jan Steinbrener (intern) |
Christian Brommer (intern) |
Thomas Georg Jantos (intern) |
Alessandro Fornasier (intern) |
Stephan Michael Weiss (intern) |
Zuordnung
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Fakultät für Technische Wissenschaften
Institut für Intelligente Systemtechnologien
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AT - 9020 Klagenfurt am Wörthersee |
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