Addressing Relative Pose Impact on UWB Localization: Dataset Introduction and Analysis

Jun Hyeok Choe; Inwook Shim

Addressing Relative Pose Impact on UWB Localization: Dataset Introduction and Analysis

Robotics 2024-07-08 v1

Authors: Jun Hyeok Choe , Inwook Shim

Abstract

UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased. Despite this broad interest, there is a lack of UWB datasets that thoroughly analyze the performance of UWB ranging measurement. To address this issue, our paper introduces a UWB dataset that examines UWB relative pose factors affecting ranging measurement. To the best of our knowledge, our dataset is the first to analyze these factors while rigorously providing precise ground-truth UWB poses. The dataset is accessible at https://github.com/cjhhalla/RCV_uwb_dataset .

Keywords

ultra-wideband localization

Cite

@article{arxiv.2407.03890,
  title  = {Addressing Relative Pose Impact on UWB Localization: Dataset Introduction and Analysis},
  author = {Jun Hyeok Choe and Inwook Shim},
  journal= {arXiv preprint arXiv:2407.03890},
  year   = {2024}
}

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4 pages

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