List of Datasets

UGV

OWP-IMU

Indoor optical wireless and inertial positioning

Laboratory vehicle trajectories with infrared photodiode RSS at 27 Hz, IMU measurements at 200 Hz, and Qualisys pose reference at 160 Hz, recorded across three speeds with and without a metal column obstacle.

Metadata: Complete Metadata needs review Released 2025

Primary places to inspect, download, read about, or reproduce the dataset.

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
UGV
Environment
Indoor
Data origin
Real-world
Sensor count
1
Ground truth
Available
Calibration
Not reported
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

Not reported

IMUs

1 reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF Motion capture Qualisys Not reported 160 Hz Full Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Reference notes
GT CSV contains timestamp, three coordinates in metres and a 3x3 rotation matrix. Marker-frame origin coincides with the photodiode. Table III prints clockwise-positive GT rotation and anticlockwise-positive gyroscope convention; users should reconcile conventions when processing the streams. Qualisys cameras and markers are reference apparatus, not released image sensors.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Not reported
Processed parameters
Not reported
Raw calibration data
Not reported
Calibration targets
Not reported

Calibration data

Calibration reproducibility details are not reported.

Notes

Paper reports IMU/photodiode separation and parallel mounting frames. It does not establish released raw calibration recordings or a complete sensor calibration package.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Collection is a laboratory vehicle experiment with three speed settings and an obstacle/no-obstacle comparison.

At higher speeds, fixed 27 Hz optical sampling gives fewer trajectory points and may reduce estimated path continuity.

Cameras

Not reported

IMUs

Platform IMU

Model
Not reported
Count
1
Accel / gyro
200 / 200 Hz

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Other sensor

Name
Photodiode optical wireless receiver
Count
1
Rate
27 Hz
Notes
One photodiode receives four frequency-distinguished infrared ceiling LED signals. OWP CSV has timestamps and four RSS channels; the four transmitters do not imply four receiver sensors.

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
wu2025owpimu

BibTeX

@misc{wu2025owpimu,
  title = {OWP-IMU: An RSS-based Optical Wireless and IMU Indoor Positioning Dataset},
  author = {Wu, Fan and De Bruycker, Jorik and Delabie, Daan and Stevens, Nobby and Rottenberg, François and De Strycker, Lieven},
  year = {2025},
  eprint = {2505.16823},
  archivePrefix = {arXiv},
  primaryClass = {eess.SP},
  url = {https://arxiv.org/abs/2505.16823v1}
}

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