Deep Odometry Systems on Edge with EKF-LoRa Backend for Real-Time Positioning in Adverse Environment
share
Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry systems yet pose a high computational cost and suffer from cumulative drifting errors over time. Thanks to the increasing computational power of edge devices, we propose a novel ubiquitous positioning solution by integrating state-of-the-art deep odometry models on edge with an EKF (Extended Kalman Filter)-LoRa backend. We carefully compare and select three sensor modalities, i.e., an Inertial Measurement Unit (IMU), a millimetre-wave (mmWave) radar, and a thermal infrared camera, and realise their deep odometry inference engines which runs in real-time. A pipeline of deploying deep odometry considering accuracy, complexity, and edge platform is proposed. We design a LoRa link for positional data backhaul and projecting aggregated positions of deep odometry into the global frame. We find that a simple EKF based fusion module is sufficient for generic positioning calibration with over 34 system. Extensive tests in different environments validate the efficiency and efficacy of our proposed positioning system.
READ FULL TEXT