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, barometer data, 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. Dataset has been removed from FRDR with metadata record remaining. The dataset is available on Figshare: https://doi.org/10.25452/figshare.plus.28386041.v1.

本数据集包含36次实验累计217分钟的飞行时长，采用三架四旋翼飞行器（quadcopters）开展采集工作，所获数据类型如下：超宽带（UWB）测距数据（含原始时间戳与信道冲激响应数据）、立体相机（stereo camera）与下置单目相机（bottom-facing monocular camera）采集的视觉数据、惯性测量单元（inertial measurement unit）数据、激光测距仪（laser rangefinder）高度测量数据、气压计（barometer）数据、磁力计（magnetometer）数据，以及运动捕捉系统（motion-capture system）获取的真值位姿（ground-truth poses）。
超宽带数据由最多12台收发器（transceivers）采集，这些收发器分别固定安装于移动机器人与静态三脚架（static tripods）上，采集场景涵盖视距（line-of-sight）与非视距（non-line-of-sight）两种环境。
无人机（UAVs）在布设视觉基准标记（fiducial markers）作为特征点的无障碍物室内环境中飞行，最大飞行速度可达4.418 m/s。
该数据集已从FRDR移除，仅保留元数据记录，现可通过Figshare平台获取：https://doi.org/10.25452/figshare.plus.28386041.v1。

搜集汇总

背景与挑战

背景概述

该数据集包含36次实验的217分钟飞行数据，结合了超宽带(UWB)测距数据、立体视觉和单目视觉数据、惯性测量单元等多种传感器数据，用于多无人机室内定位研究。数据集已从FRDR平台移除，但可通过Figshare获取。