TEX-CUP: The University of Texas Challenge for Urban Positioning

dc.creatorNarula, Lakshay
dc.creatorLaChapelle, Daniel M.
dc.creatorMurrian, Matthew J.
dc.creatorWooten, J. Michael
dc.creatorHumphreys, Todd E.
dc.creatorde Toldi, Elliot
dc.creatorMorvant, Guirec
dc.creatorLacambre, Jean-Baptiste
dc.date.accessioned2020-08-04T17:03:22Z
dc.date.available2020-08-04T17:03:22Z
dc.date.issued2020
dc.description.abstractA public benchmark dataset collected in the dense urban center of the city of Austin, TX is introduced for evaluation of multi-sensor GNSS-based urban positioning. Existing public datasets on localization and/or odometry evaluation are based on sensors such as lidar, cameras, and radar. The role of GNSS in these datasets is typically limited to the generation of a reference trajectory in conjunction with a high-end inertial navigation system (INS). In contrast, the dataset introduced in this paper provides raw ADC output of wideband intermediate frequency (IF) GNSS data along with tightly synchronized raw measurements from inertial measurement units (IMUs) and a stereoscopic camera unit. This dataset will enable optimization of the full GNSS stack from signal tracking to state estimation, as well as sensor fusion with other automotive sensors. The dataset is available under Public Datasets. Efforts to collect and share similar datasets from a number of dense urban centers around the world are under way.en_US
dc.description.departmentAerospace Engineeringen_US
dc.identifier.citationNarula, Lakshay, Daniel M. LaChapelle, Matthew J. Murrian, J. Michael Wooten, Todd E. Humphreys, Elliot de Toldi, Guirec Morvant, and Jean-Baptiste Lacambre, "TEX-CUP: The University of Texas Challenge for Urban Positioning," In 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), pp. 277-284. IEEE, 2020.en_US
dc.identifier.urihttps://hdl.handle.net/2152/82443
dc.identifier.urihttp://dx.doi.org/10.26153/tsw/9448
dc.language.isoengen_US
dc.relation.ispartofRadionavigation Laboratory Conference Proceedingsen_US
dc.rights.restrictionOpenen_US
dc.subjecturban positioningen_US
dc.subjectprecise positioningen_US
dc.subjectbenchmarken_US
dc.subjectdataseten_US
dc.subjectsensor fusionen_US
dc.titleTEX-CUP: The University of Texas Challenge for Urban Positioningen_US
dc.typeConference paperen_US

Access full-text files

Original bundle

Now showing 1 - 1 of 1
Loading...
Thumbnail Image
Name:
texcup.pdf
Size:
1.71 MB
Format:
Adobe Portable Document Format
Description:

License bundle

Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.64 KB
Format:
Item-specific license agreed upon to submission
Description: