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This document contains a detailed description of the STAR-loc dataset. For aquick starting guide please refer to the associated Github repository(https://github.com/utiasASRL/starloc). The dataset consists of stereo cameradata (rectified/raw images and inertial measurement unit measurements) andultra-wideband (UWB) data (range measurements) collected on a sensor rig in aVicon motion capture arena. The UWB anchors and visual landmarks (Apriltags)are of known position, so the dataset can be used for both localization andSimultaneous Localization and Mapping (SLAM).

STAR-loc: Dataset for STereo And Range-based localization