MILUV Dataset

Introducing MILUV, the first multi-robot dataset with ultra-wide band (UWB) measurements. This dataset features

• Pose data
  • On-board inertial measurement unit (IMU) data
  • Camera IMU data from Intel RealSense d435i
  • Height measurements from an onboard downward-facing laser rangefinder
  • Ground truth pose data from motion capture system
• UWB data from Decawave DWM1000
  • Range measurements
  • Passive listening measurements
  • Channel impulse response (CIR) data
  • Low-level data (raw ROS timestamps, received signal power)
• Vision data with AprilTag as features
  • Downward-facing camera measurements
  • Monocular and colour forward-facing camera measurements from onboard camera
  • Stereo and infrared forward-facing camera measurements from RealSense d435i
• Magnetometer data

MILUV Devkit

MILUV is accompanied by a Python devkit to facilitate the development of applications that make use of the dataset. This devkit features

• Parsing and data loading scripts
• Three localization benchmarks with which users can compare their localization algorithms
  • $SE(3)$ extended Kalman filter
  • $SE_{2}(3)$ extended Kalman filter
  • Visual inertial odometry using VINS-Fusion
• Examples of alternative uses for the dataset
  • Line-of-sight/non line-of-sight classification from CIR data
  • AprilTag detection from camera measurements