Dataset for BLoc-PF: BLE Beacon Indoor Localization Using Channel Buffer and Adaptive NLOS Correction

This dataset accompanies the manuscript “BLoc-PF: BLE Beacon Indoor Localization Using Channel Buffer and Adaptive NLOS Correction.” It contains the measured, reference, map, and processed localization data used to evaluate BLE beacon localization in two indoor environments: an office and a lobby. Seven robot trajectories were collected in each environment. The raw data include BLE RSSI packets synchronized with SLAM-based robot poses, occupancy-grid map snapshots, ground-truth beacon coordinates, and 1,000 RSSI measurements collected at a fixed distance of 6 m. The processed data include per-channel RSSI results, Channel Buffer outputs, particle-filter baseline results with different path-loss exponents, map-based NLOS correction results, comparison-method inputs, and the final BLoc-PF localization outputs.