Alostar Passenger Car Dataset

A wheel-mounted inertial sensor mitigates inertial drift more effectively than an inertial sensor mounted on the vehicle chassis. Although their usage is increasing, there is no publicly available dataset for wheel-mounted inertial sensors. To fill this gap, this work presents the wheeled-mounted inertial (WMI) dataset. WMI was recorded using two platforms: an omni-directional robot equipped with 5 IMUs, and a passenger car equipped with 9 IMUs. Each platform features IMUs mounted on every wheel. In total 106 minutes of recordings for each IMU (740 minutes for all IMUs) were made with associated ground truth trajectory. This versatile dataset will help develop model-based and data-driven approaches with wheel mounted inertial sensors.

安装于车轮的惯性传感器，相较安装于车辆底盘的惯性传感器，可更高效地抑制惯性漂移。尽管该类传感器的应用规模持续扩大，但目前尚无面向车轮安装式惯性传感器的公开数据集。为填补这一研究空白，本工作推出了车轮安装式惯性（Wheeled-Mounted Inertial, WMI）数据集。该数据集依托两类采集平台：一台搭载5个惯性测量单元（Inertial Measurement Unit, IMU）的全向移动机器人，以及一台搭载9个惯性测量单元的乘用车。两类平台均在每个车轮位置安装有惯性测量单元。每个惯性测量单元的单设备采集时长总计达106分钟，所有惯性测量单元的总采集时长为740分钟，采集过程同步配套了真实基准轨迹。本通用数据集将助力面向车轮安装式惯性传感器的基于模型与数据驱动方法的研发。