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arXiv · 2309.05518

STAR-loc: Dataset for STereo And Range-based localization

Frederike Dümbgen·Mohammed A. Shalaby·Connor Holmes·Charles C. Cossette·James R. Forbes·Jerome Le Ny·Timothy D. Barfoot
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Abstract

This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/starloc). The dataset consists of stereo camera data (rectified/raw images and inertial measurement unit measurements) and ultra-wideband (UWB) data (range measurements) collected on a sensor rig in a Vicon motion capture arena. The UWB anchors and visual landmarks (Apriltags) are of known position, so the dataset can be used for both localization and Simultaneous Localization and Mapping (SLAM).

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Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes, Charles C. Cossette, James R. Forbes, Jerome Le Ny, Timothy D. Barfoot. 2023-09-11. STAR-loc: Dataset for STereo And Range-based localization. https://arxiv.org/abs/2309.05518

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