Tian Huang

Yongqiang Yu, Tian Huang, Yipeng Yang

Triaxial MEMS accelerometers are widely used for inertial sensing, navigation, and sensor fusion, but existing calibration methods often rely on costly reference setups or nonlinear iterative optimization, limiting their efficiency and applicability to low-cost or self-calibrating systems. We present attitude-aided linear accelerometer calibration (ALAC), a method that operates on any platform providing orientation information, such as turntables, robotic arms, or inertial measurement units. ALAC constructs a combined error matrix (CEM) to represent sensor errors in a unified calibration model and enables linear least-squares estimation. The bias and gravity vector are jointly estimated, implicitly accounting for platform misalignment, and matrix decomposition of the CEM recovers scale, non-orthogonality, and alignment rotation parameters. Under static gravity, calibration is formulated as a constrained homogeneous least-squares (CHLS) problem and solved in closed form using standard linear algebra. Only five arbitrarily oriented measurements are required, and a recursive extension supports online or in-field calibration. Experiments on a stationary robot-mounted accelerometer and a quasi-static public IMU trajectory show that ALAC, in both offline and online modes, outperforms reference-based and online baselines in accuracy and robustness to sensor noise. On the same dataset, it matches iterative self-calibration under filtered conditions and surpasses all evaluated baselines on raw measurements. These results demonstrate a robust and practical calibration scheme for MEMS-based inertial platforms, especially low-cost IMUs and online calibration scenarios.

Yugeng Huang, Haitao Liu, Tian Huang

As an efficient algorithm to solve the multi-view registration problem,the motion averaging (MA) algorithm has been extensively studied and many MA-based algorithms have been introduced. They aim at recovering global motions from relative motions and exploiting information redundancy to average accumulative errors. However, one property of these methods is that they use Guass-Newton method to solve a least squares problem for the increment of global motions, which may lead to low efficiency and poor robustness to outliers. In this paper, we propose a novel motion averaging framework for the multi-view registration with Laplacian kernel-based maximum correntropy criterion (LMCC). Utilizing the Lie algebra motion framework and the correntropy measure, we propose a new cost function that takes all constraints supplied by relative motions into account. Obtaining the increment used to correct the global motions, can further be formulated as an optimization problem aimed at maximizing the cost function. By virtue of the quadratic technique, the optimization problem can be solved by dividing into two subproblems, i.e., computing the weight for each relative motion according to the current residuals and solving a second-order cone program problem (SOCP) for the increment in the next iteration. We also provide a novel strategy for determining the kernel width which ensures that our method can efficiently exploit information redundancy supplied by relative motions in the presence of many outliers. Finally, we compare the proposed method with other MA-based multi-view registration methods to verify its performance. Experimental tests on synthetic and real data demonstrate that our method achieves superior performance in terms of efficiency, accuracy and robustness.

Tian Huang, Tao Luo, Ming Yan et al.

Neural networks training on edge terminals is essential for edge AI computing, which needs to be adaptive to evolving environment. Quantised models can efficiently run on edge devices, but existing training methods for these compact models are designed to run on powerful servers with abundant memory and energy budget. For example, quantisation-aware training (QAT) method involves two copies of model parameters, which is usually beyond the capacity of on-chip memory in edge devices. Data movement between off-chip and on-chip memory is energy demanding as well. The resource requirements are trivial for powerful servers, but critical for edge devices. To mitigate these issues, We propose Resource Constrained Training (RCT). RCT only keeps a quantised model throughout the training, so that the memory requirements for model parameters in training is reduced. It adjusts per-layer bitwidth dynamically in order to save energy when a model can learn effectively with lower precision. We carry out experiments with representative models and tasks in image application and natural language processing. Experiments show that RCT saves more than 86\% energy for General Matrix Multiply (GEMM) and saves more than 46\% memory for model parameters, with limited accuracy loss. Comparing with QAT-based method, RCT saves about half of energy on moving model parameters.