Dataset

This dataset was acquired in a corridor style building and a narrow dwelling space as shown in Figure 1 and Figure 2.

Figure 1. Indooor environment 1

Figure 2. Indooor environment 2

This dataset consists of RGB images, thermal IR images, 2D LiDAR data, IMU data and UWB data as shown in Figure 3.

Figure 3. Data structure

All data are provided in a compressed 'zip' format and stored in a file with the date and time the data was collected.

Data Format

• RGB images
  Width: 640, Height: 480 8UC3

• Thermal IR images
  Width: 160, Height: 120 16UC1

• 2D LiDAR data
  Fov: 360, resolution: 0.3
  [count, Vector<(quality, angle, distance)>]

• IMU data
  [time, check, accel x, accel y, accel z, gyro x, gyro y, gyro z, NWU w, NWU x, NWU y, NUW z]

• UWB data
  [try,data]

Dataset Download

This dataset can be downloaded here.