LuViRA

The Lund University Vision, Radio, and Audio (LuViRA) positioning dataset consists of 89 trajectories that are recorded in the Lund University Humanities Lab's Motion Capture (Mocap) Studio using a MIR200 robot as the targeted platform. Each trajectory contains data from four different systems, vision, radio, audio and a ground truth system that can provide within 0.5mm localization accuracy. A Motion Capture (Mocap) system in the environment is used as the ground truth system, which provides 3D or 6DoF tracking of a camera, a single antenna and a speaker. These targets are mounted on top of the MIR200 robot and put in motion. 3D positions of the 11 static microphones are also provided.