An experimental study of mobile device localization

• Main Author: Ramirez, Ernesto Alejandro
• Other Authors: John J. Leonard.
• Format: Others
• Language: English
• Published: Massachusetts Institute of Technology 2015
• Subjects: Mechanical Engineering.
• Online Access: http://hdl.handle.net/1721.1/98770

Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015. === Cataloged from PDF version of thesis. === Includes bibliographical references (page 13). === The objective of this experiment was to generate a dataset to be used for benchmarking text-based SLAM algorithms. A Google Tango and Android application were used and developed specifically for this experiment. The Tango logged visual-inertial-odometry, images, and depth readings at a rate of 1 hz each. The dataset was taken over 2 floors of MIT's New House dormitory and was taken over the span of half an hour, covers about 3 miles of distance, and is 270 megabytes in size. The dataset taken and the Android application developed for the taking the data have been made publicly available for reuse. === by Ernesto Alejandro Ramirez. === S.B.