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Navigating with ranging radios: Five data sets with ground truth
Author(s) -
Djugash Joseph,
Hamner Bradley,
Roth Stephan
Publication year - 2009
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20311
Subject(s) - ranging , ground truth , computer science , range (aeronautics) , data set , robot , real time computing , set (abstract data type) , remote sensing , computer vision , artificial intelligence , engineering , geography , telecommunications , aerospace engineering , programming language
Here we present five large data sets with range‐only measurements between a mobile robot and stationary nodes. Each data set consists of range measurements, surveyed locations of the stationary radio nodes, dead‐reckoned trajectory of the robot, and ground truth from a sophisticated inertial navigation system/global positioning system mounted on a robot traveling several kilometers at a time. Range measurements are made with two radio‐based ranging systems: a RFID tag‐based ranging system and an ultra–wide band ranging system. All the data are accurately time‐stamped and presented in standard formats (i.e., text files). In addition to the raw data, we present some noise characteristics of the two different ranging systems to offer insight into the quality of the range data from each system. © 2009 Wiley Periodicals, Inc.