We provide two different data sets and utilities for evaluating multisensor pedestrian navigation algorithms.
>> Dataset IPIN 2010 (new!) - High Precision Reference Data Set for Pedestrian Navigation using Foot-Mounted Inertial Sensors
>> Dataset ENC_GNSS 2009 - Reference Data Sets for Multisensor Pedestrian Navigation
The data set published at ENC-GNSS 2009 contains tracks that have covered a fairly wide area, both indoor and outdoors and contain measurement data of various sensors and medium accurate ground truth (~1m) at distinct points. The data published at IPIN 2010 contains tracks that have been recorded in a lab environment with very high precision ground truth (~1mm) at a rate of approx. 100 Hz.
We also provide an extensive data set recorded from a belt-mounted inertial unit used for human activity estimation.
>> Dataset for human activity recognition
Michael Angermann, Patrick Robertson, Thomas Kemptner, and Mohammed Khider
A High Precision Reference Data Set for Pedestrian Navigation using Foot-Mounted Inertial Sensors [PDF]
International Conference on Indoor Positioning and Indoor Navigation (IPIN) 2010, 15-17 September 2010, Zürich, Switzerland
Michael Angermann, Anne Friese, Mohammed Khider, Bernhard Krach, Klaus Krack, Patrick Robertson
A Reference Measurement Data Set for Multisensor Pedestrian Navigation with Accurate Ground Truth [PDF]
European Navigation Conference (ENC-GNSS 2009), Naples, Italy, May 2009
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