STAR-loc: ステレオカメラとUWB測距を用いた位置推定データセット
STAR-loc: Dataset for STereo And Range-based localization
ステレオカメラと慣性センサ、UWB測距を組み合わせた位置推定・SLAM研究用のデータセットを構築し、モーションキャプチャ環境で収集した。
著者: Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes, Charles C. Cossette, James R. Forbes, Jerome Le Ny, Timothy D. Barfoot
分類: cs.RO
原文アブストラクト
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).
