Roh's angulation dataset is a set of measurements acquired from a rotating IR detector and four IRED landmarks. The sensor system aims at 2D bearing-based localization, which is described in Roh's thesis [1] and paper [2] in detail.
The map file, landmark.csv, contains position of four landmarks.
- Landmark #1: (0, 0, 0) meters
- Landmark #2: (6, 0, 0) meters
- Landmark #3: (6, 6, 0) meters
- Landmark #4: (0, 6, 0) meters
The data files, (Xx.x,Yy.y).csv, contain four bearing measurements from four landmarks at the given true position. The true position is presented in each filename, for example, measurements in (X3.0,Y1.5).csv is acquired at (3.0, 1.5, 0.0) meters with orientation of (0.0, 0.0, pi/2) degrees. Each file contains 200 sets of measurements whose each column is a bearing angle (in degrees) from each landmark.
- Column #1: a bearing angle (in degrees) from landmark #1
- Column #2: a bearing angle (in degrees) from landmark #2
- Column #3: a bearing angle (in degrees) from landmark #3
- Column #4: a bearing angle (in degrees) from landmark #4
- [1] H. C. Roh, Mobile Robot Localization based on Active Beacon System using Infrared Sensor in Indoor Environment, KAIST, Robotics Program, Master's Thesis, 2010 KAIST Library
- [2] H. C. Roh, Y. G. Ryu, and M. J. Chung, Mobile Robot Localization based on Active Beacon System using Infrared Sensors in Indoor Environment, Korea Robotics Society Annual Conference (KRoC), 2010