CONIX Publication

Poster: LocoMote: Ultra-Low-Power Hardware Framework for Deep Inertial Odometry

Authors: Sandeep Singh Sandha, Ankur Sarker, Luis Garcia, Mani Srivastava, Junha Park, Josh Geronimo, Urvi Shah, Suyog Vyawahare


Deep inertial odometry has shown superior trajectory estimation resolution over classical techniques in GPS-blocked environments for diverse applications. Algorithmic advances in neural inertial navigation require complementary development of sensor tags capable of running odometry models in the wild. Deployment of inertial odometry requires a long-term, low-power, durable and inexpensive hardware framework. Keeping the challenges in mind, we have designed LocoMote, a compact, ultra-low-power, environmentally resilient and modular sensor tag configuration that pushes the state-of-the-art in inertial odometry hardware. LocoMote integrates inertial measurement units, barometers, GPS, real-time clocks, ambient sensors, long-term storage, communication and energy harvesting systems, all within a 32 X 32 X 10 mm^3 tag. The tag is suitable for widespread deployment for land-air-sea-space applications without incurring noticeable size, weight or power overhead. We illustrate the performance of the tag against competing proposals and justify the design decisions.

Release Date: 10/12/2021
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