INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators - Under review

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.