MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision

This dataset comprises 217 minutes of flight time over 36 experiments using three quadcopters, collecting ultra-wideband (UWB) ranging data such as the raw timestamps and channel-impulse response data, vision data from a stereo camera and a bottom-facing monocular camera, inertial measurement unit d...

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Hauptverfasser: Shalaby, Mohammed Ayman, Ahmed, Syed Shabbir, Dahdah, Nicholas, Cossette, Charles Champagne, Le Ny, Jerome, Forbes, James Richard
Format: Dataset
Sprache:eng
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Beschreibung
Zusammenfassung:This dataset comprises 217 minutes of flight time over 36 experiments using three quadcopters, collecting ultra-wideband (UWB) ranging data such as the raw timestamps and channel-impulse response data, vision data from a stereo camera and a bottom-facing monocular camera, inertial measurement unit data, height measurements from a laser rangefinder, barometer data, magnetometer data, and ground-truth poses from a motion-capture system. The UWB data is collected from up to 12 transceivers affixed to mobile robots and static tripods in both line-of-sight and non-line-of-sight conditions. The UAVs flew at a maximum speed of 4.418 m/s in an obstacle-free indoor environment with visual fiducial markers as features.
DOI:10.20383/103.0968