XGait: A Multi-Modality Wireless Sensing Dataset for Indoor Human Tracking and Identification

Abstract

Wireless sensing has emerged as a promising approach for tracking and identification using commodity Internet of Things devices. However, the features derived from a single wireless modality are often fragile to variations in environmental layouts and walking trajectories. Furthermore, most existing studies are based on datasets collected in specific scenarios with limited trajectory diversity and sensing modalities, preventing a robust evaluation of system generalization. To address this gap, we introduce XGait, a multi-modality wireless sensing dataset that synchronously captures human walking using Wi-Fi and acoustic transceivers across three indoor scenarios, with vision-based measurements serving as ground truth. Specifically, XGait contains more than 22K walking samples from 27 participants, covering diverse directions and trajectories to support both indoor tracking and identity recognition. To bridge the heterogeneity of wireless sensing modalities, we propose a unified Doppler spectrogram representation that maps Wi-Fi and acoustic signals into a shared time-frequency space, along with a standardized benchmark pipeline for pre-processing, temporal alignment, and feature construction, enabling reproducible evaluation and systematic cross-modal analysis. Extensive evaluations demonstrate that Wi-Fi and acoustic sensing exhibit complementary strengths, particularly under complex trajectories and challenging propagation conditions, thereby paving the way for novel research in the field of multi-modality wireless sensing. The dataset and code are available at https://github.com/warrior-087/XGait.