MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision

This dataset comprises 217 minutes of flight time over 36 experiments using three quadcopters, collecting ultra-wideband (UWB) ranging data such as the raw timestamps and channel-impulse response data, vision data from a stereo camera and a bottom-facing monocular camera, inertial measurement unit data, height measurements from a laser rangefinder, magnetometer data, and ground-truth poses from a motion-capture system. The UWB data is collected from up to 12 transceivers affixed to mobile robots and static tripods in both line-of-sight and non-line-of-sight conditions. The UAVs flew at a maximum speed of 4.418 m/s in an obstacle-free indoor environment with visual fiducial markers as features.

本数据集依托3架四旋翼飞行器开展36次飞行实验，累计飞行时长217分钟，期间采集了多模态数据：超宽带（ultra-wideband, UWB）测距数据（含原始时间戳与信道冲激响应数据）、双目相机与下置单目相机采集的视觉数据、惯性测量单元数据、激光测距仪高度测量数据、磁力计数据，以及动作捕捉系统获取的真值位姿。UWB数据由最多12个收发器采集，这些收发器分别部署于移动机器人与静态三脚架上，覆盖视距与非视距两种传播场景。实验中的无人机在无障碍物的室内环境中飞行，环境以视觉基准标记作为特征标识，无人机最大飞行速度可达4.418 m/s。