This document contains a detailed description of the STAR-loc dataset. For a
quick starting guide please refer to the associated Github repository
(https://github.com/utiasASRL/starloc). The dataset consists of stereo camera
data (rectified/raw images and inertial measurement unit measurements) and
ultra-wideband (UWB) data (range measurements) collected on a sensor rig in a
Vicon motion capture arena. The UWB anchors and visual landmarks (Apriltags)
are of known position, so the dataset can be used for both localization and
Simultaneous Localization and Mapping (SLAM).Comment: 15 pages, 15 figure