Home
View
Submit
FAQ
Contributors
Mailing lists
SourceForge.net Logo
Player/Stage
CARMEN
OpenSLAM

Data Set sal200_wifi

Data set Submitted by File totals
Name: sal200_wifi
Desc: Wireless signal-strength data from the USC SAL200 building.
Andrew Howard
ahoward@usc.edu
01 Jul 2003
4 files; 11 Mb

Detailed Description

Wireless signal-strength data from the USC SAL200 building. Four 802.11b devices were placed in the environment to act as beacons, and two robots were used to gather signal strength values. The robots were localized using laser-based MCL to provided \"ground truth\" pose esimates.

See [Howard, FSR03] for an experimental study of WiFi signal-strength-based localization.

File Format Description
The files are gzip\'ed text files. Each line records the measurements made by a particular sensor at a particular point in time. Fields within lines are space delimited, and have the following format:
  • Sensor type (\"position\" or \"laser\")
  • Sensor index (0 for this data set)
  • Data timestamp (time at which the phenomena occurred; Unix time).
  • Sensor data (specific for each sensor type):
    • Position: pose_x pose_y pose_theta vel_x vel_y vel_theta
    • Laser: range bearing intensity range bearing intensity...[repeats]
    • Localize: weight mu_x mu_y mu_theta sigma_xx sigma_xy sigma_xtheta, etc [repeats]
    • WiFi: ip quality signal noise (repeats)
All units are SI (meters, radians, seconds, etc).

Files
sal200-04-fly.log.gz2Mb
sal200-05-fly.log.gz2Mb
sal200-06-bug.log.gz3Mb
sal200-07-bug.log.gz2Mb