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RINS-W: Robust Inertial Navigation System on Wheels

Abstract : This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses recurrent deep neural networks to dynamically detect a variety of situations of interest, such as zero velocity or no lateral slip; and 2) a state-of-the-art Kalman filter which incorporates this knowledge as pseudo-measurements for localization. Evaluations on a publicly available car dataset demonstrates that the proposed scheme may achieve a final precision of 20 m for a 21 km long trajectory of a vehicle driving for over an hour, equipped with an IMU of moderate precision (the gyro drift rate is 10 deg/h). To our knowledge, this is the first paper which combines sophisticated deep learning techniques with state-of-the-art filtering methods for pure inertial navigation on wheeled vehicles and as such opens up for novel data-driven inertial navigation techniques. Moreover, albeit taylored for IMU-only based localization, our method may be used as a component for self-localization of wheeled robots equipped with a more complete sensor suite.
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Contributor : Martin Brossard <>
Submitted on : Friday, February 21, 2020 - 9:33:32 AM
Last modification on : Wednesday, October 14, 2020 - 3:52:34 AM
Long-term archiving on: : Friday, May 22, 2020 - 12:58:23 PM


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  • HAL Id : hal-02057117, version 2
  • ARXIV : 1903.02210


Martin Brossard, Axel Barrau, Silvere Bonnabel. RINS-W: Robust Inertial Navigation System on Wheels. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macao, China. ⟨hal-02057117v2⟩



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