indoor positioning; pedestrian dead reckoning; inertial measurement unit; accelerometer; gyroscope;
This dataset is collected at KAIST, Daejeon, and KAIST by ISILAB to research seamless indoor-outdoor detection. The collecting device is a Raspberry Pi 4B+ with touchscreen UI connected with a Pmod Nav module and a PmodGPS. This collection has a rough three-month time span, which mitigates the specific time-specific bias. Further, in the collection, we also swap the wiring to simulate the device bias. The dynamic calibration is not applied to the dataset; searchers may choose to apply the dataset or not.
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Inertial sensors are widely used in a variety of applications. A common task is orientation estimation. To tackle such a task, attitude and heading reference system algorithms are applied. Relying on the gyroscope readings, the accelerometer measurements are used to update the attitude angles, and magnetometer measurements are utilized to update the heading angle. In indoor environments, magnetometers suffer from interference that degrades their performance.
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We collect IMU measurements under three different patterns: Fixing a smartphone in front of his chest (chest), swing a smartphone while holding it in his hand (swing), and putting a smartphone in his pocket (pocket). We use Google Pixel 3XL for the pattern of chest and Google Pixel 3a for the patterns of swing and pocket. The sampling frequency of each measurement is fixed to 15Hz. We collect the measurement of 111 paths in total, categorized into 4 types. We partition them into 84 and 27 paths, used for training and testing, respectively. It takes 10 hours to collect all datasets.
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