PERICLES: A performance evaluation platform for indoor localization systems

People Localization and Tracking (PLT) systems are in charge of providing information about mobile agents to components providing higher level services. This low level knowledge usually consists of the dynamic position (or more generally the dynamic pose) of mobile agents and can sometimes include the identity of mobile agents. Currently, both commercial and accademic/research PLT systems exist, but a comparison among them is difficult, as it is often difficult to compare experiments and to reproduce them in different systems. This has motivated our work in designing and realizing an evaluation platform, namely pericles, based on the use of off-the-shelf hardware. In this work we present the platform, to be used by the community for experimenting and testing different PLTs, its design choices, the implementation details and we discuss how it has been validated by using it for the testing of a PLT sytems we are currently developing (but which is out of the scope of the present paper).