iNavSet

iNavSet dataset for indoor positioning

This page introduces a dataset about indoor positioning and navigation called iNavSet. The dataset  can be divided into several parts according to different types. For example, according to the diversity of the indoor environment, it can be divided into corridors, stairs, elevators, halls, offices and other environments. Also, it can be divided into straight line trajectory, rectangle trajecory, circle trajectory according the route that it covers.

The iNavSet contains many raw data of sensors such as Accelerometer, magnetometer, gyroscope, ambient light and so on. Also, it contains image or video data.

Platform

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Sensor List

Product model of all sensors used in our datasets are listed:

捕获

 

Environments

Our dataset was collected in our WDZL building.

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Trajectory

The trajectory recovered from our dataset and groundtruth areshown below.

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Download

You can download our datasets from following link.

The details of datasets are shown in the table as follows.

Classification type Link
Environment data link
Motion_type data link
Trajectory data link

We are happy to share our data with other researchers. Please refer to the following article when using this data.
iNavSet:A Benchmark of Indoor Navigation Using Smartphones

上海市北斗导航与位置服务重点实验室