OWP-IMU：基于rss的光无线和IMU室内定位数据集

IF 5.3 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-09-25 DOI:10.1109/LRA.2025.3615029

Fan Wu;Jorik De Bruycker;Daan Delabie;Nobby Stevens;François Rottenberg;Lieven De Strycker

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引用次数: 0

摘要

基于接收信号强度（RSS）的光学无线定位（OWP）系统由于其低成本和准确，在室内定位中越来越受欢迎。然而，很少有开源数据集可用于测试和分析基于rss的OWP系统。在这封信中，我们在三个室内环境中收集了采样频率为$27 \ \ mathm {Hz}$的RSS值，采样频率为$200 \ \ mathm {Hz}$的惯性测量单元（IMU）和采样频率为$160 \ \ mathm {Hz}$的地面真值。第一个场景是无障碍的，第二个场景包含一个金属柱障碍物，第三个场景包含一个字母矩形障碍物，这两个障碍物代表不同的非视距（NLOS）场景。我们用一辆车以三种不同的速度（低、中、高）记录数据。数据集包括超过$160 \,{\ mathm {k}}$数据点，覆盖超过$110 \,\min$。我们还提供了基准测试，仅使用基于rss的OWP来显示定位性能，并通过扩展卡尔曼滤波器或变压器组合IMU数据来提高精度。数据集OWP-IMU和附带的基准结果是开源的，以支持室内定位方法的进一步研究。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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OWP-IMU: An RSS-Based Optical Wireless and IMU Indoor Positioning Dataset

Received signal strength (RSS)-based optical wireless positioning (OWP) systems are becoming popular for indoor localization because they are low-cost and accurate. However, few open-source datasets are available to test and analyze RSS-based OWP systems. In this letter, we collected RSS values at a sampling frequency of

$27 \,\mathrm{Hz}$

, inertial measurement unit (IMU) at a sampling frequency of

$200 \,\mathrm{Hz}$

and the ground truth at a sampling frequency of

$160 \,\mathrm{Hz}$

in three indoor environments. The first scenario is obstacle-free, the second contains a metal column obstacle, and the third contains a letter rectangular obstacle, with both obstacles representing different non-line-of-sight (NLOS) scenarios. We recorded data with a vehicle at three different speeds (low, medium and high). The dataset includes over

$160 \,{\mathrm{k}}$

data points and covers more than

$110 \,\min$

. We also provide benchmark tests to show localization performance using only RSS-based OWP and improve accuracy by combining IMU data via extended kalman filter or transformer. The dataset OWP-IMU and accompanying benchmark results are open source to support further research on indoor localization methods.

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.