This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/starloc). The dataset consists of stereo camera data (rectified/raw images and inertial measurement unit measurements) and ultra-wideband (UWB) data (range measurements) collected on a sensor rig in a Vicon motion capture arena. The UWB anchors and visual landmarks (Apriltags) are of known position, so the dataset can be used for both localization and Simultaneous Localization and Mapping (SLAM).
@article{arxiv.2309.05518,
title = {STAR-loc: Dataset for STereo And Range-based localization},
author = {Frederike Dümbgen and Mohammed A. Shalaby and Connor Holmes and Charles C. Cossette and James R. Forbes and Jerome Le Ny and Timothy D. Barfoot},
journal= {arXiv preprint arXiv:2309.05518},
year = {2023}
}