UWB測距における相対姿勢の影響：データセット構築と分析
Addressing Relative Pose Impact on UWB Localization: Dataset Introduction and Analysis
UWB測距性能に影響する相対姿勢要因を分析するため、正確な正解姿勢付きの新しいUWBデータセットを構築・公開した。
著者: Jun Hyeok Choe, Inwook Shim
分類: cs.RO
原文アブストラクト
UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased. Despite this broad interest, there is a lack of UWB datasets that thoroughly analyze the performance of UWB ranging measurement. To address this issue, our paper introduces a UWB dataset that examines UWB relative pose factors affecting ranging measurement. To the best of our knowledge, our dataset is the first to analyze these factors while rigorously providing precise ground-truth UWB poses. The dataset is accessible at https://github.com/cjhhalla/RCV_uwb_dataset .
