Data-driven visual-inertial odometry (VIO) has received highlights for its performance since VIOs are a crucial compartment in autonomous robots. However, their deployment on resource-constrained devices is non-trivial since large network parameters should be accommodated in the device memory. Furthermore, these networks may risk failure post-deployment due to environmental distribution shifts at test time. In light of this, we propose UL-VIO -- an ultra-lightweight (<1M) VIO network capable of test-time adaptation (TTA) based on visual-inertial consistency. Specifically, we perform model compression to the network while preserving the low-level encoder part, including all BatchNorm parameters for resource-efficient test-time adaptation. It achieves 36X smaller network size than state-of-the-art with a minute increase in error -- 1% on the KITTI dataset. For test-time adaptation, we propose to use the inertia-referred network outputs as pseudo labels and update the BatchNorm parameter for lightweight yet effective adaptation. To the best of our knowledge, this is the first work to perform noise-robust TTA on VIO. Experimental results on the KITTI, EuRoC, and Marulan datasets demonstrate the effectiveness of our resource-efficient adaptation method under diverse TTA scenarios with dynamic domain shifts.

本研究旨在解决在资源受限设备上部署数据驱动的视觉惯性里程计（VIO）时面临的内存限制和环境分布迁移带来的挑战。我们提出了UL-VIO，一个超轻量级的VIO网络，能够基于视觉和惯性一致性进行测试时适应。实验结果表明，该方法在保证较低内存占用的同时，能够在不同的动态领域迁移场景中有效适应，从而提升了VIO的性能。

超轻量级视觉惯性里程计的噪声鲁棒性测试时适应方法