IMUノイズ除去のための少数ショットドメイン適応
Few-shot Domain Adaptation for IMU Denoising
再構成損失と少数ショット学習戦略を用いたドメイン適応フレームワークにより、異なる環境やロボットでもIMUのノイズを除去できる手法を提案した。
著者: Feiyu Yao, Zongkai Wu, Zhenyu Wei, Donglin Wang
分類: cs.RO
原文アブストラクト
Different application scenarios will cause IMU to exhibit different error characteristics which will cause trouble to robot application. However, most data processing methods need to be designed for specific scenario. To solve this problem, we propose a few-shot domain adaptation method. In this work, a domain adaptation framework is considered for denoising the IMU, a reconstitution loss is designed to improve domain adaptability. In addition, in order to further improve the adaptability in the case of limited data, a few-shot training strategy is adopted. In the experiment, we quantify our method on two datasets (EuRoC and TUM-VI) and two real robots (car and quadruped robot) with three different precision IMUs. According to the experimental results, the adaptability of our framework is verified by t-SNE. In orientation results, our proposed method shows the great denoising performance.
