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.

本数据集涵盖基于3架四旋翼无人机完成的36次实验，累计飞行时长217分钟，共采集如下多模态数据：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）、立体相机与下视单目相机采集的视觉数据、惯性测量单元数据、激光测距仪获取的高度测量数据、磁强计数据，以及动作捕捉系统采集的真实位姿数据。超宽带数据由最多12台收发机采集，这些收发机被安装于移动机器人与静态三脚架之上，实验覆盖视距与非视距两种场景。实验在布置有视觉基准标记作为环境特征的无障碍物室内环境中开展，无人机最大飞行速度可达4.418 m/s。