OWP-IMU-Dataset

This repository provides an indoor Optical Wireless Positioning (OWP) + Inertial Measurement Unit (IMU) fusion positioning dataset comprising over 110 K continuous samples collected over more than 80 minutes. The data acquisition rates are:

• RSS measurements: 27 Hz
• IMU readings: 200 Hz
• Ground truth (position & attitude): 160 Hz

keywords: Visible Light Positioning (VLP), Indoor positioning dataset, infrared light, photodiode (PD), Indoor positioning service (IPS), Optical Wireless Positioning (OWP), Visible Light Communication (VLC).

Download Link: https://github.com/DRAMCO/OWP-IMU-Dataset

Contributor: Fan Wu, Jorik De Bruycker, Daan Delabie.

Paper: https://arxiv.org/pdf/2505.16823

Credits:

@misc{wu2025owpimurssbasedopticalwireless,
      title={OWP-IMU: An RSS-based Optical Wireless and IMU Indoor Positioning Dataset}, 
      author={Fan Wu and Jorik De Bruycker and Daan Delabie and Nobby Stevens and Francois Rottenberg and Lieven De Strycker},
      year={2025},
      eprint={2505.16823},
      archivePrefix={arXiv},
      primaryClass={eess.SP},
      url={https://arxiv.org/abs/2505.16823}, 
}

Dramco Setup

The vehicle traverses the floor while on-board sensors capture RSS values from ceiling-mounted infrared LEDs.

Visual Overview

The ceiling is equipped with four infrared LEDs, each modulated at a unique frequency for optical ranging calibration.

Schematic annotation includes LED mounting positions.

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Datasets Details

Table 1. Platform Setup Parameters

The LEDs orders are

[ (4) (3) ]

[ (2) (1) ]

with corresponding coordinates:

• LED 4: [3.561, 1.080] m
• LED 3: [3.561, 2.910] m
• LED 2: [5.975, 1.080] m
• LED 1: [5.975, 2.910] m

Table 2. Recorded Dataset Formats

Motion Trajectory

A real-time playback of the platform’s path through the test area.

Acceleration

Angular Velocity

EKF Results

Without Obstacle	With Obstacle
Low Speed 0.15 m/s	Low Speed 0.15 m/s
Medium Speed 0.275 m/s	Medium Speed 0.275 m/s
High Speed 0.45 m/s	High Speed 0.45 m/s