Millimeter-Wave Radio SLAM: 60 GHz Indoor Sensing Dataset

This dataset contains results of the 60 GHz indoor sensing measurement campaign using a bistatic OFDM radar based on 5G-specified positioning reference signals (PRSs). The data can be used for testing end-to-end indoor millimeter-wave radio positioning as well as simultaneous localization and mapping (SLAM) algorithms, including channel parameter estimation. Beamformed PRS with dense angular sampling in transmission and reception allows efficient capture of line-of-sight (LoS) as well as multipath components. The dataset includes raw I/Q measurement data, as well as the estimated channel parameters, namely, angle of departure (AoD), angle of arrival (AoA), time of arrival (ToA), and power for different propagation paths using the algorithms described in [1]. The measurements were carried out at the Hervanta campus of Tampere University, Finland, and particularly the Kampusareena building (ground floor).

[1] E. Rastorgueva-Foi, O. Kaltiokallio, Y. Ge, M. Turunen, J. Talvitie, B. Tan, M. F. Keskin, H. Wymeersch, and M. Valkama, “Millimeter-wave Radio SLAM: End-to-End Processing Methods and Experimental Validation,” IEEE Journal on Selected Areas in Communications, 2024.