List of Datasets

UAV

UTIL

UWB TDOA localization and LOS/NLOS measurement modeling

Static radio characterization and quadrotor flights combine UWB, inertial, optical-flow and altitude data with external motion-capture poses.

Metadata: Complete Metadata source documented Released 2022

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

Quick facts

Vehicle type
UAV
Environment
Indoor
Data origin
Real-world
Sensor count
12
Ground truth
Available
Calibration
Partial Raw Data
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

1 reported

Radar

Not reported

Magnetometers

Not reported

Barometers

1 reported

UWB

9 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 Vicon · Vantage+ 10 cameras 200 Hz Partial · Flight Recordings 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
Accuracy notes
The 1.12 mm frame-alignment RMSE concerns anchor survey, not every flight pose.
Reference notes
External Vicon poses are logged at 200 Hz and used by the flight controller. The reference applies to flight recordings; static radio characterization has surveyed/fixed tag-anchor poses. Receipt timestamps do not certify latency-free acquisition.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Partial Raw Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
Not reported

Reproducible calibration data

Raw calibration data is reported, so users can reproduce or inspect the calibration process.

Notes

Raw Leica anchor surveys and computed poses plus manually measured sensor offsets are released. This is partial raw calibration material; complete native IMU calibration sessions are not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Static identification uses two anchors and a tag; flight setups use eight anchors and one onboard tag across four constellations. These are alternative experiment contexts, not an eleven-radio simultaneous flight rig.

The approximate 150-minute flight headline does not establish an exact recording count or duration. Native sensor rates, clock offsets and complete raw inertial calibration remain unknown.

Vicon flight poses are independent measurements but are logged after radio/firmware receipt and also drive the controller. Approximately 10 ms latency is documented; six-marker anchor alignment RMSE is not a whole-flight pose error bound.

TDOA values are range differences, not individual ranges. NLOS can block measurements; optical flow is released without established raw images and single-point ToF needs the documented mattress-height correction.

Cameras

Not reported

IMUs

Crazyflie Bolt onboard IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

LiDAR 1

Model or name
LiDAR 1
Count
1
Dimensions
1
Rate
Not reported
Channels
1
Range
Not reported

Radar

Not reported

Additional sensors

UWB

Model
Decawave DWM1000
Name
Onboard LPS
Count
1
Placement
platform
Role
tag
Notes
Flight tag for TDOA2/TDOA3; static characterization places the tag on a stand.

UWB

Model
Decawave DWM1000
Name
Environmental LPS
Count
8
Placement
environment
Role
anchor
Notes
Eight anchors in flight configurations; static characterization uses two.

Other sensor

Name
Optical flow
Count
1
Notes
Flow-deck pixel displacements are released; raw images are not established.

Barometer

Count
1
Notes
Flight CSV includes barometric altitude above sea level.

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
zhao2024util

BibTeX

@article{zhao2024util,
  author = {{Wenda Zhao} and {Abhishek Goudar} and {Xinyuan Qiao} and {Angela P. Schoellig}},
  title = {UTIL: An Ultra-Wideband Time-Difference-of-Arrival Indoor Localization Dataset},
  journal = {The International Journal of Robotics Research},
  volume = {43},
  number = {10},
  pages = {1443--1456},
  year = {2024},
  url = {https://arxiv.org/abs/2203.14471v6}
}

Dataset corrections

Notice a specific issue after reviewing the page?

Report an inaccuracy