Magpie: A Dataset For Indoor Positioning With Magnetic Anomalies

In this paper, we present a publicly available dataset for the evaluation of indoor positioning algorithms that use magnetic anomalies. Our dataset contains IMU and magnetometer measurements along with ground truth position measurements that have centimeter-level accuracy. To produce this dataset, we collected over 13 hours of data (51 kilometers of total distance traveled) from three different buildings, with sensors both handheld and mounted on a wheeled robot, in environments with and without changes in the placement of objects that affect magnetometer measurements ("live loads"). We conclude the paper with a discussion of why these characteristics of our dataset are important when evaluating positioning algorithms.