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UTIL: An ultra-wideband time-difference-of-arrival indoor localization dataset.
- Source :
-
International Journal of Robotics Research . Sep2024, Vol. 43 Issue 10, p1443-1456. 14p. - Publication Year :
- 2024
-
Abstract
- Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of public datasets to study and benchmark UWB TDOA positioning technology in cluttered indoor environments. We fill in this gap by presenting a comprehensive dataset using Decawave's DWM1000 UWB modules. To characterize the UWB TDOA measurement performance under various line-of-sight (LOS) and non-line-of-sight (NLOS) conditions, we collected signal-to-noise ratio (SNR), power difference values, and raw UWB TDOA measurements during the identification experiments. We also conducted a cumulative total of around 150 min of real-world flight experiments on a customized quadrotor platform to benchmark the UWB TDOA localization performance for mobile robots. The quadrotor was commanded to fly with an average speed of 0.45 m/s in both obstacle-free and cluttered environments using four different UWB anchor constellations. Raw sensor data including UWB TDOA, inertial measurement unit (IMU), optical flow, time-of-flight (ToF) laser altitude, and millimeter-accurate ground truth robot poses were collected during the flights. The dataset and development kit are available at https://utiasdsl.github.io/util-uwb-dataset/. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 02783649
- Volume :
- 43
- Issue :
- 10
- Database :
- Academic Search Index
- Journal :
- International Journal of Robotics Research
- Publication Type :
- Academic Journal
- Accession number :
- 179974700
- Full Text :
- https://doi.org/10.1177/02783649241230640