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

TL;DR

The STAR-loc dataset provides stereo camera, IMU, and UWB range data in a controlled environment, facilitating research in localization and SLAM with known anchor and landmark positions.

Contribution

This paper introduces the STAR-loc dataset, combining stereo vision, inertial, and UWB data for localization and SLAM research in a standardized setting.

Findings

Dataset enables benchmarking of localization algorithms.

Includes synchronized stereo, IMU, and UWB data.

Supports research in both localization and SLAM.

Abstract

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).