Inertial Navigation Dataset

Dataset Introduction OxIOD Dataset Oxford Inertial Odometry Dataset [1] is a large set of inertial data for inertial odometry which is recorded by smartphones at 100 Hz in indoor environment. The suite consists of 158 tests and covers a distance of over 42 km, with OMC ground track available for 132 tests. Therefore, it does not include pure rotational movements and pure translational movements, which are helpful for systematically evaluating the model’s performance under different conditions; however, it covers a wide range of everyday movements....

Dataset Introduction RoNIN The RoNIN dataset [1] contains over 40 hours of IMU sensor data from 100 human subjects with 3D ground-truth trajectories under natural human movements. This data set provides measurements of the accelerometer, gyroscope, magnetometer, and ground track, including direction and location in 327 sequences and at a frequency of 200 Hz. A two-device data collection protocol was developed. A harness was used to attach one phone to the body for 3D tracking, allowing subjects to control the other phone to collect IMU data freely....