2026-09-18T19:31:36Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/987702022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
John J. Leonard.
Ramirez, Ernesto Alejandro
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2015-09-17T19:10:56Z
2015-09-17T19:10:56Z
2015
2015
http://hdl.handle.net/1721.1/98770
920913997
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.
15 pages
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
An experimental study of mobile device localization
Thesis
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