Earable IMU-Based Indoor Positioning

Dataset Overview This study introduces a real-world multi-IMU dataset for earable IMU-based indoor pedestrian positioning. The dataset was collected in a 39 m × 32 m office environment on the first floor of the Bedford Building at the University of London. It includes four head-mounted earable IMUs, namely two low-cost IM948 sensors and two commercial-grade Xsens DOT sensors, one iPhone 13 Pro used as a Pocket IMU, and one iPhone 16 Pro Max used to record RTAB-Map ground-truth trajectories. The dataset covers straight, rectangular, and circular walking paths under controlled variations in path shape, walking speed, head motion, stop-and-go behaviour, and walking direction. According to the dataset summary, it contains 35 experimental trials, a total walking length of 3688.17 m, and 1 hour 48 minutes of experimental data. The IMU streams were recorded at 60 Hz and contain 1,164,439 samples, while the ground-truth trajectories were recorded at 5 Hz and contain 25,628 readings. The recorded variables include timestamps, quaternion, Euler angles, angular velocity, free acceleration, acceleration, gyroscope, and magnetometer measurements. All IMU streams were processed using the same PDR pipeline, including cleaning, interpolation, resampling, gait event detection, motion-state filtering, quaternion-based heading estimation, and two-dimensional trajectory reconstruction. The reconstructed trajectories were aligned with RTAB-Map ground truth and evaluated using ATE, RTE, and TS. Data consistency was supported by fixed sensor placement, unified IMU sampling rate, and the use of RTAB-Map ground truth. Dataset features Technical Details Experimental trials 20 Path types Straight, rectangular, circular Evaluated factors Path shape, head motion, stopping behaviour, walking speed, walking direction Total walking length 3688.17 m Total experimental time 1 hour 48 minutes IMU type and number Low-cost IM948 earable IMU × 2, Commercial-grade Xsens DOT earable IMU × 2, Pocket IMU × 1 Measurements Recording time, quaternion, Euler angles, angular ve-locity, free acceleration, acceleration, gyroscope, and magnetometer Earable IMU sampling rate 60 Hz Total IMU samples 1,164,439 Ground-truth sampling rate 5 Hz Total ground-truth readings 25,628