INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators
The INSANE data sets are a versatile collection of Micro Aerial Vehicle (MAV) data sets designed to support research in autonomous robotic platforms. Accurate and robust localization is a key requirement for these platforms to navigate safely in various dynamic environments. The data sets provide different scenarios with multiple levels of difficulty for localization methods, including indoor and outdoor environments and challenging Mars analog scenarios. The extensive sensor suite includes various sensor categories, such as multiple Inertial Measurement Units (IMUs) and cameras, and each data set provides highly accurate ground truth. The data sets and post-processing tools are available for download and aim to reflect real-world scenarios and sensor effects to support research on machine learning-based sensor signal enhancement methods for improved localization.
Citation
@article{Brommer2024,
title = {The INSANE dataset: Large number of sensors for challenging UAV flights in Mars analog, outdoor, and out-/indoor transition scenarios},
volume = {43},
ISSN = {1741-3176},
url = {http://dx.doi.org/10.1177/02783649241227245},
DOI = {10.1177/02783649241227245},
number = {8},
journal = {The International Journal of Robotics Research},
publisher = {SAGE Publications},
author = {Brommer, Christian and Fornasier, Alessandro and Scheiber, Martin and Delaune, Jeff and Brockers, Roland and Steinbrener, Jan and Weiss, Stephan},
year = {2024},
month = Feb,
pages = {1083–1113}
}