Data: UTrack3D: 3D Tracking Using Ultra-wideband (UWB) Radios

"# UTrack3D"

Environments: Python3.7 & Matlab2021

System: Windows 11

• Python: We test our code using Python3.7. Advanced Python versions work as well. https://www.python.org/downloads/

• Matlab: We test our code using Matlab2021. Advanced Matlab versions work as well. The matlab is only used for performance evaluation in this code. In case you prefer not installing Matlab, several pre-generated examples are provided.

• Python libraries: pip install -r requirements.txt

• Run script run_offline_analysis.py for tracking.

python run_offline_track.py

This reads pre-stored CIR data (./raw_data) and generates a file tracking_results.mat in ./output which stores the estimated trajectory and ground-truth trajectory. We provide three examples (test1, test2, test3). One can modify the following line to test a specific example.

file_dir = "./raw_data/test1/"

• Run script ./matlab_analysis_scripts/evaluate_accuracy_ae.m to compute error and perform visualization. This script takes tracking_results.mat as inputs and generates CDF error plot and trajectory visualization in the current folder.

The CDF error plot and trajectories of three examples have already been pre-generated and put in ./matlab_analysis_scripts/.