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MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision
| Description: | 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. Dataset has been removed from FRDR with metadata record remaining. The dataset is available on Figshare: https://doi.org/10.25452/figshare.plus.28386041.v1. |
| Notes: | Item exited embargo and became publicly available on 2024-10-31 |
| Authors: | Shalaby, Mohammed Ayman; McGill University;  0000-0002-6145-6509Ahmed, Syed Shabbir; McGill University; 0009-0005-7459-3413Dahdah, Nicholas; McGill University; 0009-0006-9846-7216Cossette, Charles Champagne; McGill University; 0000-0002-9380-8361Le Ny, Jerome; Polytechnique Montréal; 0000-0002-3417-4135Forbes, James Richard; McGill University; 0000-0002-1987-9268 |
| Keywords: | Ultrawide-band radio Vision Localization Multi-robot teams |
| Field of Research: | Electrical engineering, computer engineering, and information engineering > Systems control and automation > Data-driven estimation, optimization, and control
Electrical engineering, computer engineering, and information engineering > Systems control and automation > Motion control of robots
Electrical engineering, computer engineering, and information engineering > Communications and networks technologies > Wireless communication systems
Electrical engineering, computer engineering, and information engineering > Data analytics and signal processing > Optimization and data analytics algorithms and systems
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| Publication Date: | 2024-10-03 |
| Publisher: | Federated Research Data Repository / dépôt fédéré de données de recherche |
| Funder: | Natural Sciences and Engineering Research Council; NSERC Discovery and Alliance Grant Canadian Foundation for Innovation; John R. Evans Leaders Fund Denso Corporation |
| URI: | https://doi.org/10.20383/103.0968 |
| Related Identifiers: |
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Access to this dataset is subject to the following terms:
Creative Commons Attribution 4.0 International (CC BY 4.0) https://creativecommons.org/licenses/by/4.0/
Citation
Shalaby, M., Ahmed, S., Dahdah, N., Cossette, C., Le Ny, J., Forbes, J. (2024). MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision. Federated Research Data Repository. https://doi.org/10.20383/103.0968
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