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ntu-aris / ntu_viral_dataset

MIT License
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UWB anchor initialization #14

Open RicardoCzj opened 1 year ago

RicardoCzj commented 1 year ago

Thank you so much for the excellent open source data set. We would like to know if it is possible to provide the 3D initial coordinates of UWB mobile antennas (e.g. 200A,200B,201A,201B) in the defined W-frame?

brytsknguyen commented 1 year ago

Hi RicardoCzj,

Just to confirm, you are looking for the UAV ranging nodes' coordinates in the {W} frame defined by the UWB anchor nodes?

(image from the figure) image

If so I think we can obtain it by using VIRAL SLAM pose estimate + UWB body-frame-referenced coordinates of the UAV ranging nodes. I may need to do some experiments and get back to you on it.

RicardoCzj commented 1 year ago

Thank you very much for your reply. As you said, we want to know the 3-D position coordinates of the 4 UWB ranging nodes (200A,200B,201A,201B) under the defined {W} frame (the datasets we are currently concerned about are the rtp/nya/tnp datasets). If it is convenient, we also want to know what is the precision of the coordinates provided? Are there any ground truth values regarding the 4 ranging nodes?

abhigoudar commented 9 months ago

Any updates on this?