UTIAS Vicon 2

Collected on: 12/12/2022

Description

This dataset was collected at the UTIAS vicon testbed which is flight arena of dimensions 7m × 8m × 3.5m. The arena is equipped with 8 UWB anchors installed at the corners of the room and a Vicon motion capture system for ground truth. A picture of the tested with the anchors and the MAV is shown below.

drawing

The test platform is a custom-built 220mm size quadrotor with a single UWB tag, an Intel Realsense T261 tracking camera, and a Jetson TX1 computer. In each experiments, the MAV is commanded along minimum-jerk trajectories and the sensor data is recorded on the onboard computer.

drawing

Experiments

Videos of experiments involving four different paths are shown in the collage below.

drawing

Comments

  1. The T261 tracking camera has a 20 degree pitch angle with respect to the body-frame. However, the VIO data has been modified to be gravity aligned. In other words, the VIO data has been rotated to align with the body frame.
  2. Range measurements from UWB radios are susceptible to systematic and spatial-varying biases (Zhao et al., 2021). It is recommended to either compensate for the systematic biases using a calibration procedure or estimate the spatial biases online to achieve good positioning accuracy.
  3. Spatial offsets of the UWB radio and the T261 camera with respect body frame can be found in the config file.

Data files

The dataset can be downloaded from here: UTIAS_vicon_12122022