Wheel-Mounted Inertial Datasets

Dusan Nemec; Gal Versano; Vojtech Simak; Michal Gregor; Itai Savin; Juraj Kekelak; Itzik Klein

doi:10.1038/s41597-025-06224-w

Wheel-Mounted Inertial Datasets

Dusan Nemec
, Gal Versano
, Vojtech Simak
, Michal Gregor
, Itai Savin
, Juraj Kekelak
, Itzik Klein

Department of Marine Technologies

Research output: Contribution to journal › Article › peer-review

Abstract

A wheel-mounted inertial sensor mitigates inertial drift more effectively than an inertial sensor mounted on the vehicle chassis. Although their usage is increasing, there is no publicly available dataset for wheel-mounted inertial sensors. To fill this gap, this work presents the wheel-mounted inertial (WMI) dataset. WMI was recorded using two platforms: an omni-directional robot equipped with 5 IMUs, and a passenger car equipped with 9 IMUs. Each platform features IMUs mounted on every wheel. In total 64.04 minutes of recordings for each IMU (490 minutes for all IMUs) were made with associated ground truth trajectory. This versatile dataset will help develop model-based and data-driven approaches with wheel mounted inertial sensors.

Original language	English
Article number	1970
Journal	Scientific Data
Volume	12
Issue number	1
DOIs	https://doi.org/10.1038/s41597-025-06224-w
State	Published - Dec 2025

Bibliographical note

Publisher Copyright:
© The Author(s) 2025.

ASJC Scopus subject areas

Statistics and Probability
Information Systems
Education
Computer Science Applications
Statistics, Probability and Uncertainty
Library and Information Sciences

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10.1038/s41597-025-06224-w

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abstract = "A wheel-mounted inertial sensor mitigates inertial drift more effectively than an inertial sensor mounted on the vehicle chassis. Although their usage is increasing, there is no publicly available dataset for wheel-mounted inertial sensors. To fill this gap, this work presents the wheel-mounted inertial (WMI) dataset. WMI was recorded using two platforms: an omni-directional robot equipped with 5 IMUs, and a passenger car equipped with 9 IMUs. Each platform features IMUs mounted on every wheel. In total 64.04 minutes of recordings for each IMU (490 minutes for all IMUs) were made with associated ground truth trajectory. This versatile dataset will help develop model-based and data-driven approaches with wheel mounted inertial sensors.",

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AU - Nemec, Dusan

AU - Versano, Gal

AU - Simak, Vojtech

AU - Gregor, Michal

AU - Savin, Itai

AU - Kekelak, Juraj

AU - Klein, Itzik

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AB - A wheel-mounted inertial sensor mitigates inertial drift more effectively than an inertial sensor mounted on the vehicle chassis. Although their usage is increasing, there is no publicly available dataset for wheel-mounted inertial sensors. To fill this gap, this work presents the wheel-mounted inertial (WMI) dataset. WMI was recorded using two platforms: an omni-directional robot equipped with 5 IMUs, and a passenger car equipped with 9 IMUs. Each platform features IMUs mounted on every wheel. In total 64.04 minutes of recordings for each IMU (490 minutes for all IMUs) were made with associated ground truth trajectory. This versatile dataset will help develop model-based and data-driven approaches with wheel mounted inertial sensors.

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Wheel-Mounted Inertial Datasets

Abstract

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ASJC Scopus subject areas

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