This paper presents the autonomous platforms inertial dataset. It contains inertial sensor raw data and corresponding ground truth trajectories. The dataset was collected...
Abstract:
One of the critical tasks required for fully autonomous functionality is the ability to achieve an accurate navigation solution; that is, to determine the platform positi...Show MoreMetadata
Abstract:
One of the critical tasks required for fully autonomous functionality is the ability to achieve an accurate navigation solution; that is, to determine the platform position, velocity, and orientation. Various sensors, depending on the vehicle environment (air, sea, or land), are employed to achieve this goal. In parallel to the development of novel navigation and sensor fusion algorithms, machine-learning based algorithms are penetrating into the navigation and sensor fusion fields. An excellent example for this trend is pedestrian dead reckoning, used for indoor navigation, where both classical and machine learning approaches are used to improve the navigation accuracy. To facilitate machine learning algorithms’ derivation and validation for autonomous platforms, a huge quantity of recorded sensor data is needed. Unfortunately, in many situations, such datasets are not easy to collect or are not publicly available. To advance the development of accurate autonomous navigation, this paper presents the autonomous platforms inertial dataset. It contains inertial sensor raw data and corresponding ground truth trajectories. The dataset was collected using a variety of platforms including a quadrotor, two autonomous underwater vehicles, a land vehicle, a remote controlled electric car, and a boat. A total of 805.5 minutes of recordings were made using different types of inertial sensors, global navigation satellite system receivers, and Doppler velocity logs. After describing the sensors that were employed for the recordings, a detailed description of the conducted experiments is provided. The autonomous platform inertial dataset is available at: https://github.com/ansfl/Navigation-Data-Project/.
This paper presents the autonomous platforms inertial dataset. It contains inertial sensor raw data and corresponding ground truth trajectories. The dataset was collected...
Published in: IEEE Access ( Volume: 10)
Funding Agency:
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Artur Shurin received the B.Sc. degree in mechanical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interests include navigation, deep learning, and machine learning.
Artur Shurin received the B.Sc. degree in mechanical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interests include navigation, deep learning, and machine learning.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Alex Saraev received the B.Sc. degree in electrical engineering from the Technion—Israel Institute of Technology. His research interests include computer vision and deep learning.
Alex Saraev received the B.Sc. degree in electrical engineering from the Technion—Israel Institute of Technology. His research interests include computer vision and deep learning.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Mor Yona received the B.Sc. degree in mechanical engineering from the Ben Gurion University of the Negev. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interest includes navigation with deep learning methods.
Mor Yona received the B.Sc. degree in mechanical engineering from the Ben Gurion University of the Negev. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interest includes navigation with deep learning methods.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Yevgeni Gutnik received the B.Sc. degree in aerospace engineering from the Technion—Israel Institute of Technology, Haifa, Israel, in 2015, and the M.Sc. degree (cum laude) from The Hatter Department of Marine Technologies, University of Haifa, Israel, where he is currently pursuing the Ph.D. degree. His interests include dynamic and control of AUVs, autonomous underwater docking, sensor fusion, and obstacle avoidance.
Yevgeni Gutnik received the B.Sc. degree in aerospace engineering from the Technion—Israel Institute of Technology, Haifa, Israel, in 2015, and the M.Sc. degree (cum laude) from The Hatter Department of Marine Technologies, University of Haifa, Israel, where he is currently pursuing the Ph.D. degree. His interests include dynamic and control of AUVs, autonomous underwater docking, sensor fusion, and obstacle avoidance.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Sharon Faber received the B.Sc. degree in mechanical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Subsea Engineering Laboratory, The Hatter Department of Marine Technologies, University of Haifa.
Sharon Faber received the B.Sc. degree in mechanical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Subsea Engineering Laboratory, The Hatter Department of Marine Technologies, University of Haifa.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Aviad Etzion received the B.Sc. degree in electrical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interests include navigation, deep learning, and sensor fusion.
Aviad Etzion received the B.Sc. degree in electrical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interests include navigation, deep learning, and sensor fusion.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Itzik Klein (Senior Member, IEEE) received the B.Sc. and M.Sc. degrees in aerospace engineering and the Ph.D. degree in geo-information engineering from the Technion—Israel Institute of Technology, Haifa, Israel, in 2004, 2007, and 2011, respectively. He is currently an Assistant Professor, heading the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa, Is...Show More
Itzik Klein (Senior Member, IEEE) received the B.Sc. and M.Sc. degrees in aerospace engineering and the Ph.D. degree in geo-information engineering from the Technion—Israel Institute of Technology, Haifa, Israel, in 2004, 2007, and 2011, respectively. He is currently an Assistant Professor, heading the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa, Is...View more
Contents The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Artur Shurin received the B.Sc. degree in mechanical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interests include navigation, deep learning, and machine learning.
Artur Shurin received the B.Sc. degree in mechanical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interests include navigation, deep learning, and machine learning.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Alex Saraev received the B.Sc. degree in electrical engineering from the Technion—Israel Institute of Technology. His research interests include computer vision and deep learning.
Alex Saraev received the B.Sc. degree in electrical engineering from the Technion—Israel Institute of Technology. His research interests include computer vision and deep learning.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Mor Yona received the B.Sc. degree in mechanical engineering from the Ben Gurion University of the Negev. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interest includes navigation with deep learning methods.
Mor Yona received the B.Sc. degree in mechanical engineering from the Ben Gurion University of the Negev. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interest includes navigation with deep learning methods.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Yevgeni Gutnik received the B.Sc. degree in aerospace engineering from the Technion—Israel Institute of Technology, Haifa, Israel, in 2015, and the M.Sc. degree (cum laude) from The Hatter Department of Marine Technologies, University of Haifa, Israel, where he is currently pursuing the Ph.D. degree. His interests include dynamic and control of AUVs, autonomous underwater docking, sensor fusion, and obstacle avoidance.
Yevgeni Gutnik received the B.Sc. degree in aerospace engineering from the Technion—Israel Institute of Technology, Haifa, Israel, in 2015, and the M.Sc. degree (cum laude) from The Hatter Department of Marine Technologies, University of Haifa, Israel, where he is currently pursuing the Ph.D. degree. His interests include dynamic and control of AUVs, autonomous underwater docking, sensor fusion, and obstacle avoidance.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Sharon Faber received the B.Sc. degree in mechanical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Subsea Engineering Laboratory, The Hatter Department of Marine Technologies, University of Haifa.
Sharon Faber received the B.Sc. degree in mechanical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Subsea Engineering Laboratory, The Hatter Department of Marine Technologies, University of Haifa.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Aviad Etzion received the B.Sc. degree in electrical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interests include navigation, deep learning, and sensor fusion.
Aviad Etzion received the B.Sc. degree in electrical engineering from the Technion—Israel Institute of Technology. He is currently pursuing the M.Sc. degree with the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa. His research interests include navigation, deep learning, and sensor fusion.View more
The Hatter Department of Marine Technologies, University of Haifa, Haifa, Israel
Itzik Klein (Senior Member, IEEE) received the B.Sc. and M.Sc. degrees in aerospace engineering and the Ph.D. degree in geo-information engineering from the Technion—Israel Institute of Technology, Haifa, Israel, in 2004, 2007, and 2011, respectively. He is currently an Assistant Professor, heading the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa, Israel. His research interests include data driven-based navigation, novel inertial navigation architectures, autonomous underwater vehicles, sensor fusion, and estimation theory.
Itzik Klein (Senior Member, IEEE) received the B.Sc. and M.Sc. degrees in aerospace engineering and the Ph.D. degree in geo-information engineering from the Technion—Israel Institute of Technology, Haifa, Israel, in 2004, 2007, and 2011, respectively. He is currently an Assistant Professor, heading the Autonomous Navigation and Sensor Fusion Laboratory, The Hatter Department of Marine Technologies, University of Haifa, Israel. His research interests include data driven-based navigation, novel inertial navigation architectures, autonomous underwater vehicles, sensor fusion, and estimation theory.View more