This paper introduces the Robotic Total Stations Ground Truthing dataset (RTS-GT) to support localization research with six-Degrees Of Freedom (DOF) ground truth trajectories. The dataset helps evaluate and compare Simultaneous Localization and Mapping (SLAM) algorithms. It includes trajectories generated using a system of three Robotic Total Stations (RTSs) tracking moving robotic platforms. The performance of the RTS-based system is compared to a Global Navigation Satellite System (GNSS)-based setup. The dataset, which comprises around sixty experiments conducted over 17 months, demonstrates that RTSs provide measurements that are 22 times more stable than GNSS in various environmental settings.
Publication date: 22 Sep 2023
Project Page: Not Provided
Paper: https://arxiv.org/pdf/2309.11935
