"SHB4 Dataset"

"The SHB4 dataset is collected on the 4th floor of one academic building, where long corridors and intricately decorated offices are contained. We employ the visual-inertial fusion module of the Tango phone to track the ground-truth position of the pedestrian body. Specifically, the ground-truth pose data is obtained from the TangoPoseData class in the Tango Software Development Kit (SDK). The entire data collection software is based on the open-source code from the RIDI approach. Additionally, we have added WiFi RSSI data collection using the getScanResult method of the WiFiManager class within the Android protocol. From the hardware perspective, the ASUS ZenFone AR Tango phone is hung tightly on the chest of a pedestrian for collecting the ground-truth positions, while a Xiaomi 10S or a Google Pixel 5 is held freely for the acquisition of WiFi RSSI readings and inertial measurements. "