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<p>A wheel-mounted inertial sensor mitigates inertial drift more effectively than an inertial sensor mounted on the vehicle chassis. Although their usage is increasing, there is no publicly available dataset for wheel-mounted inertial sensors. To fill this gap, this work presents the wheel-mounted inertial (WMI) dataset. WMI was recorded using two platforms: an omni-directional robot equipped with 5 IMUs, and a passenger car equipped with 9 IMUs. Each platform features IMUs mounted on every wheel. In total 64.04 minutes of recordings for each IMU (490 minutes for all IMUs) were made with associated ground truth trajectory. This versatile dataset will help develop model-based and data-driven approaches with wheel mounted inertial sensors.</p>

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Wheel-Mounted Inertial Datasets

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年12月12日

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  • Dusan Nemec,
  • Gal Versano,
  • Vojtech Simak,
  • Michal Gregor,
  • Itai Savin,
  • Juraj Kekelak,
  • Itzik Klein

摘要

A wheel-mounted inertial sensor mitigates inertial drift more effectively than an inertial sensor mounted on the vehicle chassis. Although their usage is increasing, there is no publicly available dataset for wheel-mounted inertial sensors. To fill this gap, this work presents the wheel-mounted inertial (WMI) dataset. WMI was recorded using two platforms: an omni-directional robot equipped with 5 IMUs, and a passenger car equipped with 9 IMUs. Each platform features IMUs mounted on every wheel. In total 64.04 minutes of recordings for each IMU (490 minutes for all IMUs) were made with associated ground truth trajectory. This versatile dataset will help develop model-based and data-driven approaches with wheel mounted inertial sensors.